HUMANOID ROBOT LEG DESIGN

In this paper, the robustness properties of sliding mode control (SMC) which is designed to produce a dynamic output feedback controller to achieve robustness for trajectory tracking of the nonlinear human swing leg system is presented. The human swing leg represents the support of human leg or the humanoid robot leg which is usually modeled as a double pendulum. The thigh and shank of a human leg will respect the pendulum links, hip and knee will connect the upper body to thigh and then shank respectively. The total moments required to move the muscles of thigh and shank are denoted by two external (servomotors) torques applied at the hip and knee joints. The mathematical model of the system is developed. The results show that the proposed controller can robustly stabilize the system and achieve a desirable time response specification.

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CPG BASED RL ALGORITHM LEARNS TO CONTROL OF A HUMANOID ROBOT LEG

International Journal of Robotics and Automation ◽

10.2316/journal.206.2015.2.206-4185 ◽

2015 ◽

Vol 30 (2) ◽

Cited By ~ 3

Author(s):

Önder Tutsoy

Keyword(s):

Humanoid Robot ◽

Robot Leg

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A Unified Optimization Framework and New Set of Performance Metrics for Robot Leg Design

10.1109/icra48506.2021.9561618 ◽

2021 ◽

Author(s):

Chathura Semasinghe ◽

Drake Taylor ◽

Siavash Rezazadeh

Keyword(s):

Performance Metrics ◽

Optimization Framework ◽

Robot Leg ◽

Leg Design

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The Design and Modeling of Multi-axis Knee Artificial Leg

Journal of Bioactive and Compatible Polymers ◽

10.1177/0883911509103289 ◽

2009 ◽

Vol 24 (1_suppl) ◽

pp. 183-195 ◽

Cited By ~ 2

Author(s):

Hualong Xie ◽

Lixin Guo ◽

Yongxian Liu ◽

Fei Li

Keyword(s):

Humanoid Robot ◽

Mechanical Design ◽

Biped Robot ◽

Human Gait ◽

Dynamics Model ◽

Bionic Design ◽

Optimal Mechanism ◽

Normal Gait ◽

Normal Human ◽

Leg Design

To provide an ideal test-base for the development of an intelligent bionic leg, a new pattern humanoid robot – biped robot with heterogeneous legs (BRHL) was designed. To simulate a normal human gait, a multi-axis knee mechanism was included into the artificial leg design that was different from the artificial leg of a common biped robot. The conception and research purposed for the BRHL was developed. Based on human bioscience, the bionic design of multi-axis knee artificial leg was analyzed and a virtual prototype was made. The kinematics model and dynamics model were deduced in detail. Based on human normal gait data, a simulation of dynamics model was carried. An optimized mechanical design of multi-axis knee artificial leg is discussed and a simulation was done. The optimal mechanism parameters for the multi-axis knee artificial leg and a BRHL prototype were given. This research indicated that a multi-axis knee artificial leg can simulate a human leg.

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Inverse Kinematics for a 6-DOF Walking Humanoid Robot Leg

Advances in Applied Clifford Algebras ◽

10.1007/s00006-016-0705-7 ◽

2016 ◽

Vol 27 (1) ◽

pp. 581-597 ◽

Cited By ~ 3

Author(s):

L. Campos-Macías ◽

O. Carbajal-Espinosa ◽

A. Loukianov ◽

E. Bayro-Corrochano

Keyword(s):

Inverse Kinematics ◽

Humanoid Robot ◽

Robot Leg

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Measurement of Backlash and Fatigue Wear of PEEK Bush in Robot Joint under Middle Load

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.418.38 ◽

2013 ◽

Vol 418 ◽

pp. 38-43

Author(s):

Hitonobu Koike ◽

Kiyoto Itakura ◽

Shota Okazaki ◽

Masahiro Takamiya ◽

Kenji Kanemasu ◽

...

Keyword(s):

Evaluation System ◽

Humanoid Robot ◽

Transmission Error ◽

Fatigue Wear ◽

Ether Ether Ketone ◽

Poly Ether Ether Ketone ◽

Ether Ketone ◽

Robot Leg ◽

Wear Tests ◽

Joint Evaluation

In order to establish the application possibilities in transmission parts in humanoid robot joints, wear of reinforced poly-ether-ether-ketone (PEEK) polymer bushes in friction against 7075 aluminium alloy cam plates is investigated. Additionally the transmission error (backlash) in robot joint was measured. The PEEK bush wear requires close examination as well as the input axis-output axis transmission error. Fatigue wear tests were performed on bushes under middle load at 3000 rpm motor speeds, while the cam plate oscillated in the humanoid robot leg joint evaluation system under 1300 kgfcm (132 Nm) load torque. The robot joint using PEEK bush achieved stable small backlash due to good friction perforance.

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Linkage Design and Optimisation of a Hexapod Walking Robot Used For Surveillance

International Journal of Innovative Technology and Exploring Engineering - Special Issue ◽

10.35940/ijitee.k1743.0981119 ◽

2019 ◽

Vol 8 (11) ◽

pp. 705-708

Keyword(s):

Basic Structure ◽

Walking Robots ◽

Robot Design ◽

Hexapod Robot ◽

Walking Robot ◽

Walking Gait ◽

Linkage Design ◽

Robot Leg ◽

Leg Design ◽

Basic Movement

The technological advancements at the global level have put in a large demand for walking robots in various industrial and domestic applications. The aim of the paper is to develop a Hexapod (robot with six legs) walking robot that is capable of performing basic movement, such as walking forward and backward, carry payloads and used as a surveillance device. A novel robot leg design has been created with Autodesk Fusion 360, linkage mechanisms of the robot leg is determined by using Linkage 2.0 software. Stress and displacement analysis was done in Autodesk fusion360 software in order to determine whether it can hold the self-weight of the robot and the desired payload to carry the surveillance purpose (i.e. medicine, water, blood etc.). Considering all the possibilities final optimized Hexapod robot design is created using Autodesk Fusion 360 software. Mainly, the undertaken design outline takes into account the fundamental features, such as basic structure, motion planning, payload and walking gait. Fabrication of Hexapod robot parts was completed using additive manufacturing technology FDM process.

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