scholarly journals Kinematic Modelling and Motion Analysis of a Humanoid Torso Mechanism

2021 ◽  
Vol 11 (6) ◽  
pp. 2607
Author(s):  
Matteo Russo ◽  
Marco Ceccarelli ◽  
Daniele Cafolla
Keyword(s):  
Mechanical Design ◽  
Kinematic Model ◽  
Humanoid Robots ◽  
Rigid Bodies ◽  
The Novel ◽  
Complex Behaviour ◽  
Reachable Workspace ◽  
Stiffness Model ◽  
Kinematic Modelling ◽  
Novel Model

This paper introduces a novel kinematic model for a tendon-driven compliant torso mechanism for humanoid robots, which describes the complex behaviour of a system characterised by the interaction of a complex compliant element with rigid bodies and actuation tendons. Inspired by a human spine, the proposed mechanism is based on a flexible backbone whose shape is controlled by two pairs of antagonistic tendons. First, the structure is analysed to identify the main modes of motion. Then, a constant curvature kinematic model is extended to describe the behaviour of the torso mechanism under examination, which includes axial elongation/compression and torsion in addition to the main bending motion. A linearised stiffness model is also formulated to estimate the static response of the backbone. The novel model is used to evaluate the workspace of an example mechanical design, and then it is mapped onto a controller to validate the results with an experimental test on a prototype. By replacing a previous approximated model calibrated on experimental data, this kinematic model improves the accuracy and efficiency of the torso mechanism and enables the performance evaluation of the robot over the reachable workspace, to ensure that the tendon-driven architecture operates within its wrench-closure workspace.

scholarly journals SIMULATION AND ANALYZES OF INVERSE-KINEMATIC MODEL OF HUMANOID ROBOT HAND

2019 ◽  
pp. 117-122
Author(s):  
Martin Varga ◽  
Filip Filakovský ◽  
Ivan Virgala
Keyword(s):  
Numerical Modeling ◽  
Humanoid Robot ◽  
Least Squares Method ◽  
Mechanical Design ◽  
Kinematic Model ◽  
Humanoid Robots ◽  
Optimization Method ◽  
Inverse Kinematic ◽  
Robot Hand ◽  
Kinematic Modeling

Urgency of the research. Nowadays robotics and mechatronics come to be mainstream. With development in these areas also grow computing fastidiousness. Since there is significant focus on numerical modeling and algorithmization in kinematic and dynamic modeling. Target setting. Suitable approach for numerical modeling is important from the view of time consumption as well as stability of computing. Actual scientific researches and issues analysis. Designing and modeling of humanoid robots have high interest in the field of robotics. The hardware and mechanical design of robots is on significantly higher level in comparison with software of robots. So, modeling and control of robots is in the interest of researchers. Uninvestigated parts of general matters defining. Comparison of methods for numerical modeling of inverse kinematics. The research objective. Comparing four methods from the view of performance and stability. The statement of basic materials. This paper investigates the area of kinematic modeling of humanoid robot hand and simulation in MATLAB. Conclusions. The paper investigated inverse kinematic model approaches. There were analyzed pseudoinverse method, transpose of Jacobian method, damped least squares method as an optimization method. The results of the simulations show the advantages of optimization method. During the simulations it never fail in comparison with other tested methods.

scholarly journals A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for Robotic Applications

Mathematics ◽  
2021 ◽  
Vol 9 (13) ◽  
pp. 1468
Author(s):  
Luis Nagua ◽  
Carlos Relaño ◽  
Concepción A. Monje ◽  
Carlos Balaguer
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Experimental Tests ◽  
Humanoid Robots ◽  
Inverse Kinematic ◽  
Element Analysis ◽  
New Approach ◽  
Flexible Polymer ◽  
The Mathematical Model

A soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM). To study its performance in more detail, a test platform has been developed using components that can be manufactured in a 3D printer using a flexible polymer. The mathematical model of the kinematics of the soft joint is developed, which includes a blocking mechanism and the morphology workspace. The model is validated using Finite Element Analysis (FEA) (CAD software). Experimental tests are performed to validate the inverse kinematic model and to show the potential use of the prototype in robotic platforms such as manipulators and humanoid robots.

A multi-objective sparse evolutionary framework for large-scale weapon target assignment based on a reward strategy

2021 ◽  
Vol 40 (5) ◽  
pp. 10043-10061
Author(s):  
Xiaoping Shi ◽  
Shiqi Zou ◽  
Shenmin Song ◽  
Rui Guo
Keyword(s):  
Large Scale ◽  
The Novel ◽  
Genetic Operators ◽  
Multi Objective ◽  
Target Assignment ◽  
Solution Selection ◽  
Battlefield Environment ◽  
Sparse Problems ◽  
Novel Model ◽  
Error Parameter

 The asset-based weapon target assignment (ABWTA) problem is one of the important branches of the weapon target assignment (WTA) problem. Due to the current large-scale battlefield environment, the ABWTA problem is a multi-objective optimization problem (MOP) with strong constraints, large-scale and sparse properties. The novel model of the ABWTA problem with the operation error parameter is established. An evolutionary algorithm for large-scale sparse problems (SparseEA) is introduced as the main framework for solving large-scale sparse ABWTA problem. The proposed framework (SparseEA-ABWTA) mainly addresses the issue that problem-specific initialization method and genetic operators with a reward strategy can generate solutions efficiently considering the sparsity of variables and an improved non-dominated solution selection method is presented to handle the constraints. Under the premise of constructing large-scale cases by the specific case generator, two numerical experiments on four outstanding multi-objective evolutionary algorithms (MOEAs) show Runtime of SparseEA-ABWTA is faster nearly 50% than others under the same convergence and the gap between MOEAs improved by the mechanism of SparseEA-ABWTA and SparseEA-ABWTA is reduced to nearly 20% in the convergence and distribution.

Design of a Multi-Arm Robot for Mandible Reconstruction Surgery

2014 ◽  
Vol 654 ◽  
pp. 187-190 ◽  
Author(s):  
Hong Hua Zhao ◽  
Jian Ying Tian ◽  
Dong Song Li ◽  
Chang Sheng Ai
Keyword(s):  
Mechanical Design ◽  
The Novel ◽  
Robot System ◽  
Mandible Reconstruction ◽  
3D Navigation ◽  
Reconstruction Surgery ◽  
And Control ◽  
Robotic Surgical System ◽  
Surgical System ◽  
Poor Stability

Clinical treatment for mandible defects is Mandible Reconstruction Surgery (MRS) including bone grafts, distraction osteogenesis and bone tissue engineering, however, MRS is operated by doctors without 3D navigation at present which leads to lots of disadvantages such as bad operational control, low positioning accuracy and poor stability. Therefore, a robotic surgical system was designed to assist surgeons on manipulating. For this study, the robot system was given in brief, then mechanical design and control system of the novel three-arm robot.And experiment results in this study show that the robot works stably and accurately. The development of this medical robot system contributes to the promotion and popularization of the MRS in clinics.

A novel fractional discrete grey model with an adaptive structure and its application in electricity consumption prediction

Kybernetes ◽  
2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Yitong Liu ◽  
Yang Yang ◽  
Dingyu Xue ◽  
Feng Pan
Keyword(s):  
Fractional Order ◽  
Electricity Consumption ◽  
Grey Model ◽  
The Novel ◽  
Raw Data ◽  
Content Type ◽  
Power Load ◽  
Grey Models ◽  
Novel Model ◽  
Consumption Prediction

PurposeElectricity consumption prediction has been an important topic for its significant impact on electric policies. Due to various uncertain factors, the growth trends of electricity consumption in different cases are variable. However, the traditional grey model is based on a fixed structure which sometimes cannot match the trend of raw data. Consequently, the predictive accuracy is variable as cases change. To improve the model's adaptability and forecasting ability, a novel fractional discrete grey model with variable structure is proposed in this paper.Design/methodology/approachThe novel model can be regarded as a homogenous or non-homogenous exponent predicting model by changing the structure. And it selects the appropriate structure depending on the characteristics of raw data. The introduction of fractional accumulation enhances the predicting ability of the novel model. And the relative fractional order r is calculated by the numerical iterative algorithm which is simple but effective.FindingsTwo cases of power load and electricity consumption in Jiangsu and Fujian are applied to assess the predicting accuracy of the novel grey model. Four widely-used grey models, three classical statistical models and the multi-layer artificial neural network model are taken into comparison. The results demonstrate that the novel grey model performs well in all cases, and is superior to the comparative eight models.Originality/valueA fractional-order discrete grey model with an adaptable structure is proposed to solve the conflict between traditional grey models' fixed structures and variable development trends of raw data. In applications, the novel model has satisfied adaptability and predicting accuracy.

Assessing Bypassed Hydrocarbons

2021 ◽  
Author(s):  
Stanley Oifoghe ◽  
Nora Alarcon ◽  
Lucrecia Grigoletto
Keyword(s):  
Continental Shelf ◽  
Reservoir Characterization ◽  
Gamma Ray ◽  
West African ◽  
The Novel ◽  
The West ◽  
Present Case Study ◽  
Novel Model

Abstract Hydrocarbons are bypassed in known fields. This is due to reservoir heterogeneities, complex lithology, and limitations of existing technology. This paper seeks to identify the scenarios of bypassed hydrocarbons, and to highlight how advances in reservoir characterization techniques have improved assessment of bypassed hydrocarbons. The present case study is an evaluation well drilled on the continental shelf, off the West African Coastline. The targeted thin-bedded reservoir sands are of Cenomanian age. Some technologies for assessing bypassed hydrocarbon include Gamma Ray Spectralog and Thin Bed Analysis. NMR is important for accurate reservoir characterization of thinly bedded reservoirs. The measured NMR porosity was 15pu, which is 42% of the actual porosity. Using the measured values gave a permeability of 5.3mD as against the actual permeability of 234mD. The novel model presented in this paper increased the porosity by 58% and the permeability by 4315%.

scholarly journals CONTROL NOVEL MODEL OF KNEE CPM DEVICE

2009 ◽  
Vol 12 (4) ◽  
pp. 18-29
Author(s):  
Thanh Diep Cong Tu
Keyword(s):  
Weight Ratio ◽  
Artificial Muscle ◽  
Network Control ◽  
Continuous Passive Motion ◽  
The Novel ◽  
Highly Nonlinear ◽  
Cord Injury ◽  
And Control ◽  
Novel Model ◽  
Interesting Alternative

In recent years, CPM - Continuous Passive Motion has been proved to be one of the most effective therapeutic methods for patients who have problems with motion such as spinal cord injury, ankle and knee injury, parkinson and so on. Many commercial CPM devices are found in market but all of them use motors as the main actuators. The lack of human compliance of electric actuators, which are commonly used in these machines, makes them potentially harmful to patients. An interesting alternative, to electric actuators for medical purposes, particularly promising for rehabilitation, is a pneumatic artificial muscle (PAM) actuator because of its high power/weight ratio and compliance properties. However, the highly nonlinear and hysteresis of PAM make it the challenging for design and control. In this study, a PID compensation using neural network control is studied to improve the control performance of the novel model of Knee CPM device.

scholarly journals Kinematic Modelling of FES Induced Sit-to-stand Movement in Paraplegia

2017 ◽  
Vol 7 (6) ◽  
pp. 3060
Author(s):  
Mohammed Ahmed ◽  
M. S. Huq ◽  
B. S. K. K. Ibrahim
Keyword(s):  
Dynamic Model ◽  
Initial Phase ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Future Research ◽  
Upper Limbs ◽  
Body System ◽  
Segmental Dynamics ◽  
Sit To Stand ◽  
Kinematic Modelling

FES induced movements from indication is promising due to encouraging results being obtained by scholars. The kinematic model usually constitute the initial phase towards achieving the segmental dynamics of any rigid body system. It can be used to ascertain that the model is capable of achieving the desired goal. The dynamic model builds on the kinematic model and is usually mathematically cumbersome depending on the number of degrees-of-freedom. This paper presents a kinematic model applicable for human sit-to-stand movement scenario that will be used to obtain the dynamic model the FES induced movement in a later study. The study shows that the 6 DOF conceptualized sit-to-stand movement can be achieved conveniently using 4 DOF. The 4 DOF has an additional joint compared to similar earlier works which makes more it accurate and flexible. It is more accurate in the sense that it accommodates additional joint i.e. the neck joint whose dynamics could be captured. And more flexible in the sense that if future research uncover more contributions by the segments it can be easily incorporated including that of other segments e.g. the trunk, neck and upper limbs.

Radula-centric and odontophore-centric kinematic models of swallowing inAplysia californica

2002 ◽  
Vol 205 (14) ◽  
pp. 2029-2051 ◽  
Author(s):  
Richard F. Drushel ◽  
Greg P. Sutton ◽  
David M. Neustadter ◽  
Elizabeth V. Mangan ◽  
Benjamin W. Adams ◽  
...  
Keyword(s):  
Kinematic Model ◽  
Three Dimensional ◽  
Rigid Bodies ◽  
High Temporal Resolution ◽  
Buccal Mass ◽  
Kinematic Models ◽  
Dimensional Shape ◽  
Position Parameter ◽  
Three Dimensional Shape

SUMMARYTwo kinematic models of the radula/odontophore of the marine mollusc Aplysia californica were created to characterize the movement of structures inside the buccal mass during the feeding cycle in vivo. Both models produce a continuous range of three-dimensional shape changes in the radula/odontophore, but they are fundamentally different in construction. The radulacentric model treats the radular halves as rigid bodies that can pitch, yaw and roll relative to a fixed radular stalk, thus creating a three-dimensional shape. The odontophore-centric model creates a globally convex solid representation of the radula/odontophore directly, which then constrains the positions and shapes of internal structures. Both radula/odontophore models are placed into a pre-existing kinematic model of the I1/I3 and I2 muscles to generate three-dimensional representations of the entire buccal mass. High-temporal-resolution, mid-sagittal magnetic resonance(MR) images of swallowing adults in vivo are used to provide non-invasive, artifact-free shape and position parameter inputs for the models. These images allow structures inside the buccal mass to be visualized directly, including the radula, radular stalk and lumen of the I1/I3 cavity. Both radula-centric and odontophore-centric models were able to reproduce two-dimensional, mid-sagittal radula/odontophore and buccal mass kinematics,but the odontophore-centric model's predictions of I1/I3, I2 and I7 muscle dimensions more accurately matched data from MR-imaged adults and transilluminated juveniles.

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