scholarly journals Kinematic, Workspace and Static Analysis of a Upper Body Humanoid Robot

2019 ◽  
Vol 8 (6S4) ◽  
Keyword(s):  
Static Analysis ◽  
Human Body ◽  
Humanoid Robot ◽  
Screw Theory ◽  
Kinematic Model ◽  
Humanoid Robots ◽  
Upper Body ◽  
Forward Kinematic ◽  
Behavior Health ◽  
And Behavior

Humanoid robots are used fortraining purposes, personal assistance, understanding the human body structure and behavior, health care field, entertainment field, military purposes, space explorations, etc. Kinematic analysis plays a crucial role in the development of a humanoid robot. This paper presents the kinematic, workspace and static analysis of a Humanoid upper body robot. The forward kinematic model is obtained by using Screw theory. Screw theory provides the complete description of the system than the Denavit- Hartenberg (DH) method. Screw theory decreases the chances of occurrences of singularities inside the workspace. The joint angles in the upper body are obtained by using cubic spline trajectory method. The proposed torso and arm design can imitate the human body postures. The humanoid robot is designed with 3 Dofs in the torso, 2 Dofs in the neck and 5 Dofs in each arm. The two arms are designed with identical joints.

AUTONOMOUS ONLINE LEARNING OF REACHING BEHAVIOR IN A HUMANOID ROBOT

2012 ◽  
Vol 09 (03) ◽  
pp. 1250017 ◽  
Author(s):  
LORENZO JAMONE ◽  
LORENZO NATALE ◽  
FRANCESCO NORI ◽  
GIORGIO METTA ◽  
GIULIO SANDINI
Keyword(s):  
Online Learning ◽  
Humanoid Robot ◽  
A Priori ◽  
Kinematic Model ◽  
Internal Representation ◽  
Sensory Experience ◽  
Upper Body ◽  
A Priori Knowledge ◽  
3D Space ◽  
Forward Kinematic

In this paper we describe an autonomous strategy which enables a humanoid robot to learn how to reach for a visually identified object in the 3D space. The robot is a 22-DOF upper-body humanoid with moving eyes, neck, arm and hand. The robot is bootstrapped with limited a-priori knowledge, sufficient to start the interaction with the environment; this interaction allows the robot to learn different sensorimotor mappings, required for reaching. The arm-head forward kinematic model and a visuo-motor inverse model are learned from sensory experience. Learning is performed purely online (without any separation between training and execution) through a goal-directed exploration of the environment. During the learning the robot is also able to build an internal representation of its reachable space.

scholarly journals Energy-Efficient Hip Joint Offsets in Humanoid Robot via Taguchi Method and Bio-inspired Analysis

2020 ◽  
Vol 10 (20) ◽  
pp. 7287
Author(s):  
Jihun Kim ◽  
Jaeha Yang ◽  
Seung Tae Yang ◽  
Yonghwan Oh ◽  
Giuk Lee
Keyword(s):  
Energy Efficiency ◽  
Taguchi Method ◽  
Power Consumption ◽  
Hip Joint ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
Upper Body ◽  
Mean Square ◽  
Hip Joints ◽  
Sway Motion

Although previous research has improved the energy efficiency of humanoid robots to increase mobility, no study has considered the offset between hip joints to this end. Here, we optimized the offsets of hip joints in humanoid robots via the Taguchi method to maximize energy efficiency. During optimization, the offsets between hip joints were selected as control factors, and the sum of the root-mean-square power consumption from three actuated hip joints was set as the objective function. We analyzed the power consumption of a humanoid robot model implemented in physics simulation software. As the Taguchi method was originally devised for robust optimization, we selected turning, forward, backward, and sideways walking motions as noise factors. Through two optimization stages, we obtained near-optimal results for the humanoid hip joint offsets. We validated the results by comparing the root-mean-square (RMS) power consumption of the original and optimized humanoid models, finding that the RMS power consumption was reduced by more than 25% in the target motions. We explored the reason for the reduction of power consumption through bio-inspired analysis from human gait mechanics. As the distance between the left and right hip joints in the frontal plane became narrower, the amplitude of the sway motion of the upper body was reduced. We found that the reduced sway motion of the upper body of the optimized joint configuration was effective in improving energy efficiency, similar to the influence of the pathway of the body’s center of gravity (COG) on human walking efficiency.

scholarly journals A FAST AND EFFICIENT MODEL FOR LEARNING TO REACH

2005 ◽  
Vol 02 (04) ◽  
pp. 391-413 ◽  
Author(s):  
GANGHUA SUN ◽  
BRIAN SCASSELLATI
Keyword(s):  
Real Time ◽  
Humanoid Robot ◽  
Kinematic Model ◽  
Careful Analysis ◽  
High Accuracy ◽  
Optimization Process ◽  
Training Samples ◽  
Forward Kinematic ◽  
Hidden Neurons ◽  
Six Degree Of Freedom

This paper proposes a self-supervised model which enables a humanoid robot to learn to reach to visual targets. Only 400 training samples are used to learn a forward kinematic model of the six degree-of-freedom (DOF) arm. The forward model is represented compactly with just 150 hidden neurons and enables high accuracy reaching in real time. We provide an optimization process for the learning parameters and a careful analysis of reaching errors. An extension of the model is presented to address additional DOFs in the neck. The consistency of the model with physiological and psychological observations is elaborated.

Motion planning for humanoid robot dynamically stepping over consecutive large obstacles

2016 ◽  
Vol 43 (2) ◽  
pp. 204-220 ◽  
Author(s):  
Fayong Guo ◽  
Tao Mei ◽  
Minzhou Luo ◽  
Marco Ceccarelli ◽  
Ziyi Zhao ◽  
...  
Keyword(s):  
Motion Planning ◽  
Trajectory Planning ◽  
Humanoid Robot ◽  
Extreme Case ◽  
Humanoid Robots ◽  
Decision Criterion ◽  
Body Motion ◽  
Feasibility Analysis ◽  
Upper Body ◽  
Content Type

Purpose – Humanoid robots should have the ability of walking in complex environment and overcoming large obstacles in rescue mission. Previous research mainly discusses the problem of humanoid robots stepping over or on/off one obstacle statically or dynamically. As an extreme case, this paper aims to demonstrate how the robots can step over two large obstacles continuously. Design/methodology/approach – The robot model uses linear inverted pendulum (LIP) model. The motion planning procedure includes feasibility analysis with constraints, footprints planning, legs trajectory planning with collision-free constraint, foot trajectory adapter and upper body motion planning. Findings – The motion planning with the motion constraints is a key problem, which can be considered as global optimization issue with collision-free constraint, kinematic limits and balance constraint. With the given obstacles, the robot first needs to determine whether it can achieve stepping over, if feasible, and then the robot gets the motion trajectory for the legs, waist and upper body using consecutive obstacles stepping over planning algorithm which is presented in this paper. Originality/value – The consecutive stepping over problem is proposed in this paper. First, the paper defines two consecutive stepping over conditions, sparse stepping over (SSO) and tight stepping over (TSO). Then, a novel feasibility analysis method with condition (SSO/TSO) decision criterion is proposed for consecutive obstacles stepping over. The feasibility analysis method’s output is walking parameters with obstacles’ information. Furthermore, a modified legs trajectory planning method with center of mass trajectory compensation using upper body motion is proposed. Finally, simulations and experiments for SSO and TSO are carried out by using the XT-I humanoid robot platform with the aim to verify the validity and feasibility of the novel methods proposed in this paper.

A KINEMATIC MODEL OF THE UPPER LIMB WITH A CLAVICLE-LIKE LINK FOR HUMANOID ROBOTS

2008 ◽  
Vol 05 (01) ◽  
pp. 87-118 ◽  
Author(s):  
BERTRAND TONDU
Keyword(s):  
Upper Limb ◽  
Humanoid Robot ◽  
Frontal Zone ◽  
Kinematic Model ◽  
Shoulder Girdle ◽  
Humanoid Robots ◽  
Biomechanical Study ◽  
The Body ◽  
Human Arm ◽  
Shoulder Complex

Starting from a biomechanical study of the shoulder complex, the relevance of a serial nine d.o.f. kinematic model of the human arm, including a clavicle-like link, was analyzed. It is shown that this partial biomimetic joint model of the upper limb is able to mimic the ability of the natural arm to practically eliminate internal and bound singularities over a large frontal zone, so as to maintain its elbow laterally to the body. In this sense, it appears to be an advanced solution for increasing the dexterity of humanoid robot upper limbs, thus replacing classical seven d.o.f. anthropomorphic arms where a device mimicking the shoulder girdle mechanism is absent.

scholarly journals Humanoid Robot Application as COVID-19 Symptoms Checker Using Computer Vision and Multiple Sensors

ELKHA ◽  
2021 ◽  
Vol 13 (2) ◽  
pp. 105
Author(s):  
Muhammad Yeza Baihaqi ◽  
Vincent Vincent ◽  
Joni Welman Simatupang
Keyword(s):  
Body Temperature ◽  
Oxygen Saturation ◽  
Human Body ◽  
Humanoid Robot ◽  
Close Contact ◽  
The Body ◽  
Saturation Level ◽  
Upper Body ◽  
Oxygen Saturation Level ◽  
Human Body Temperature

Novel Corona Virus (nCoV) infects human’s respiratory system. It spreads easily when an infected person makes a close contact with other people. To prevent its massive spread, it is necessary to ensure anyone coming to a certain place is not being infected. The symptoms include high body temperature (≥37.5°C) and low oxygen saturation level (≤95%). This day, most places only check the human body temperature. Thus, the authors are interested to make an attempt to design a system that is able to measure both human body temperature and oxygen saturation level. This work also applies the 7-DoF Upper-Body of Humanoid Robot to prevent virus spread from and to the employee. The system will detect the coming of visitors by using face detection. It requires 7.24 seconds to detect the visitor without a mask, and 1.26 second when the visitor wears a mask. The body temperature measurement was done using GY-906 temperature sensor with an error of 0.51%. For the oxygen saturation level measurement, MAX30100 pulse oximeter module was applied and showed an error of 0.78%. In addition, the upper-body of humanoid robot will perform some gestures to instruct the visitors in every process of the system. The implemented 7-DoF upper-body of humanoid robot has 93.33% gesture comprehension rate. In conclusion, the overall system has been tested and showed success rate up to 75%.

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 Dynamic Modelling and Analyzing of a Walking of Humanoid Robot

2018 ◽  
Vol 68 (3) ◽  
pp. 59-76
Author(s):  
Bajrami Xhevahir ◽  
Shala Ahmet ◽  
Hoxha Gezim ◽  
Likaj Rame
Keyword(s):  
Humanoid Robot ◽  
Kinematic Model ◽  
Dynamic Modelling ◽  
Angular Acceleration ◽  
Biped Robot ◽  
Humanoid Robots ◽  
Motion Controller ◽  
Left And Right ◽  
The Stability ◽  
Driving Torque

AbstractThis paper focuses on the walking improvement of a biped robot. The zero-moment point (ZMP) method is used to stabilise the walking process of robot. The kinematic model of the humanoid robot is based on Denavit- Hartenberg’s (D-H) method, as presented in this paper. This work deals with the stability analysis of a two-legged robot during double and single foot walking. It seems more difficult to analyse the dynamic behaviour of a walking robot due to its mathematical complexity. In this context most humanoid robots are based on the control model. This method needs to design not only a model of the robot itself but also the surrounding environment. In this paper, a kinematic simulation of the robotic system is performed in MATLAB. Driving torque of the left and right ankle is calculated based on the trajectory of joint angle, the same as angular velocity and angular acceleration. During this process an elmo motion controller is used for all joints. The validity of the dynamic model is tested by comparing obtained results with the simulation results.

FROM LAMPREY TO HUMANOID: THE DESIGN AND CONTROL OF A FLEXIBLE SPINE BELLY DANCING HUMANOID ROBOT WITH INSPIRATION FROM BIOLOGY

2005 ◽  
Vol 02 (01) ◽  
pp. 81-104 ◽  
Author(s):  
JIMMY OR ◽  
ATSUO TAKANISHI
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Upper Body ◽  
Control Parameters ◽  
Humanoid Robotics ◽  
Walking Machines ◽  
Belly Dancing ◽  
And Control ◽  
High Degree ◽  
Deficient Area

Research on humanoid robotics has up to now been focused on the control of manipulators and walking machines. The contributions of body torso torwards daily activities have been neglected. To address this deficient area of humanoid robotics research, we developed a unique flexible spine biped humanoid robot. Inspired by the rhythmic and wave-like motions commonly seen in swimming lamprey and in belly dancing, we investigated the possibility of controlling the spine of our robot using the lamprey central pattern generator (CPG). Experimental results show that our robot is capable of mimicing both basic and complex spine motions with fewer actuators than the human spine and using only three input parameters (global and extra excitations from the brainstem, plane of actions). Our work suggests that the CPG is a suitable controller for humanoid spine motions because it can control a high degree of freedom mechanical spine with minimized control parameters. No complex computations of spine trajectories are involved. Furthermore, since our robot can move its upper body dynamically while standing and without external supports, it may be used as a prototype for the next generation of humanoid robots.

Humans and humanoids

2018 ◽  
Author(s):  
Giorgio Metta
Keyword(s):  
Humanoid Robot ◽  
Robot Vision ◽  
Physical Space ◽  
Humanoid Robots ◽  
Human Robot Interaction ◽  
Biologically Inspired ◽  
Robot Interaction ◽  
Humanoid Robotics ◽  
Biomimetic Robot ◽  
Compliant Actuation

This chapter outlines a number of research lines that, starting from the observation of nature, attempt to mimic human behavior in humanoid robots. Humanoid robotics is one of the most exciting proving grounds for the development of biologically inspired hardware and software—machines that try to recreate billions of years of evolution with some of the abilities and characteristics of living beings. Humanoids could be especially useful for their ability to “live” in human-populated environments, occupying the same physical space as people and using tools that have been designed for people. Natural human–robot interaction is also an important facet of humanoid research. Finally, learning and adapting from experience, the hallmark of human intelligence, may require some approximation to the human body in order to attain similar capacities to humans. This chapter focuses particularly on compliant actuation, soft robotics, biomimetic robot vision, robot touch, and brain-inspired motor control in the context of the iCub humanoid robot.

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