scholarly journals VARIOUS APPROACHES OF DYNAMIC MODELLING OF BIPED ROBOTIC SYSTEM-A REVIEW

2013 ◽  
pp. 71-79
Author(s):  
PRADIP KUMAR TALAPATRA ◽  
SHAKTI PRASAD DASH ◽  
P. RAKESH
Keyword(s):  
Current Trend ◽  
Dynamic Modelling ◽  
Humanoid Robots ◽  
Robotic System ◽  
Development Projects ◽  
Bipedal Locomotion ◽  
Human Beings ◽  
Bipedal Robots ◽  
Humanoid Robotics ◽  
System A

Humans are the most advanced creatures of the nature. Accordingly it can be stated that humanoid robots are the most advanced creatures of human beings. Among the man-made systems such as automobile, hand-phones and multimedia devices, robots of future will hopefully be the most ideal assistants to human beings. During several decades of research, development projects aimed at building bipedal and humanoid robots has been increasing at a rapid rate. A brief review of current activities in the development of bipedal humanoid robotics is provided in this paper. The dynamic modelling of biped robotic system in the current trend is also described. The main objectives for using bipedal robots are introduced and bipedal locomotion as well as its dynamic behaviors in different fields are also considered. The use of dynamics of different kinds of mechanical systems in the field of humanoid robotics is also emphasized. Finally, a list of few projects in this field is provided.

Guest Editorial of the Special Issue on Computational Intelligence and Its Applications for Robotics

2017 ◽  
Vol 14 (02) ◽  
pp. 1702001 ◽  
Author(s):  
Young-Jae Ryoo ◽  
Takahiro Yamanoi
Keyword(s):  
Computational Intelligence ◽  
Fuzzy Controller ◽  
Mathematical Reasoning ◽  
Real Life ◽  
Humanoid Robots ◽  
Robotic System ◽  
Human Beings ◽  
Special Issue ◽  
Life Problems ◽  
Localization And Mapping

The special issue topics focus on the computational intelligence and its application for robotics. Its areas reach out comprehensive ranges; context-awareness software, omnidirectional walking and fuzzy controller of dynamic walking for humanoid robots, pet robots for treatment of ASD children, fuzzy logic control, enhanced simultaneous localization and mapping, fuzzy line tracking for mobile robots, and so on. Computational intelligence (CI) is a method of performing like humans. Generally computational intelligence means the ability of a computer to learn a specific task from data or experimental results. Meanwhile robotic system has many limits to behave like human beings. The robotic system might be too complex for mathematical reasoning, it might contain some uncertainties during the process, or the process might simply be stochastic in real life. Real-life problems cannot be translated into binary code for computers to process it. Computational intelligence might solve such problems.

WHEN WERE ACTIVE EXOSKELETONS ACTUALLY BORN?

2007 ◽  
Vol 04 (03) ◽  
pp. 459-486 ◽  
Author(s):  
MIOMIR K. VUKOBRATOVIC
Keyword(s):  
Humanoid Robots ◽  
Bipedal Locomotion ◽  
Humanoid Robotics ◽  
Future Directions ◽  
Severely Handicapped ◽  
History Of ◽  
Active Rehabilitation ◽  
The Military ◽  
Intensive Development ◽  
Initial Research

We are witnessing unimaginably intensive development in the field of humanoid robotics. The area of active exoskeletons is also experiencing a renaissance and is attracting increasing attention from researchers worldwide. The objective of this article is to consider the beginnings and review the history of the development of active exoskeletons, their original purpose and role in systems for rehabilitation of severely handicapped persons. The present-day development of active exoskeletons has to a large extent determined their future and applications in both the military and some specific activities that come out of the framework of rehabilitation systems and go deeply into special systems for enhancing power and expanding physical and working capabilities of humans. However, the origins of robotics, and especially of humanoid robotics, did not foreshadow such progress. We take a look back at the beginnings of the development of humanoid robots, especially bipedal locomotion systems and active exoskeletons, whose development marked the start of research in the domain of humanoid robotics. Once more we point out some of our pioneering results in the domain of active exoskeletons that were originally dedicated to supporting locomotion of handicapped persons. We show the relationships between the initial research in the field of active rehabilitation techniques and contemporary humanoid systems and try to predict the future directions of the development of humanoid robotics and active exoskeletal systems and their applications.

An ayurvedic tablet formulation for ulcer protection

2020 ◽  
Vol 10 (4) ◽  
pp. 35-38
Author(s):  
Shiva Kumar K ◽  
Purushothaman M ◽  
Soujanya H ◽  
Jagadeeshwari S
Keyword(s):  
Pharmacological Activity ◽  
The Body ◽  
Gastric Ulcers ◽  
Antiulcer Activity ◽  
Herbal Drugs ◽  
Human Beings ◽  
Synthetic Drugs ◽  
Scientific Investigations ◽  
System A ◽  
The World

Gastric ulcers or the peptic ulcer is the primary disease that affects the gastrointestinal system. A large extent of the population in the world are suffering from the disease, and the age group of people those who suffer from ulcers are 20-55years. Herbs are known to the human beings that are useful in the treatment of diseases, and there are a lot of scientific investigations that prove the pharmacological activity of herbal drugs. Practitioners have been using the herbal material to treat the ulcers successfully, and the same had been reported scientifically. Numerous publications have been made that proves the antiulcer activity of the plants around the world. The tablets were investigated for the antiulcer activity in two doses 200 and 400mg/kg in albino Wistar rats in the artificial ulcer those are induced by the ethanol. The prepared tablets showed a better activity compared to the standard synthetic drug and the marketed ayurvedic formulation. The tablets showed a dose-dependent activity in ulcer prevention and treatment. Many synthetic drugs are available for the ulcer treatment, and the drugs pose the other problems in the body by showing the side effects and some other reactions. This limits the use of synthetic drugs to treat ulcers effectively. Herbs are known to the human beings that are useful in the treatment of diseases, and there are a lot of scientific investigations that prove the pharmacological activity of herbal drugs.

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.

Robotic system design and development for automated dismantling of PCB waste

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Ioan Doroftei ◽  
Daniel Chirita ◽  
Ciprian Stamate ◽  
Stelian Cazan ◽  
Carlos Pascal ◽  
...  
Keyword(s):  
Design Methodology ◽  
Printed Circuit Board ◽  
Vision System ◽  
Electronic Waste ◽  
Robotic System ◽  
Circuit Board ◽  
Short Introduction ◽  
Content Type ◽  
Printed Circuit ◽  
System A

Purpose The mass electronics sector is one of the most critical sources of waste, in terms of volume and content with dangerous effects on the environment. The purpose of this study is to provide an automated and accurate dismantling system that can improve the outcome of recycling. Design/methodology/approach Following a short introduction, the paper details the implementation layout and highlights the advantages of using a custom architecture for the automated dismantling of printed circuit board waste. Findings Currently, the amount of electronic waste is impressive while manual dismantling is a very common and non-efficient approach. Designing an automatic procedure that can be replicated, is one of the tasks for efficient electronic waste recovery. This paper proposes an automated dismantling system for the advanced recovery of particular waste materials from computer and telecommunications equipment. The automated dismantling architecture is built using a robotic system, a custom device and an eye-to-hand configuration for a stereo vision system. Originality/value The proposed approach is innovative because of its custom device design. The custom device is built using a programmable screwdriver combined with an innovative rotary dismantling tool. The dismantling torque can be tuned empirically.

scholarly journals Torso height optimization for bipedal locomotion

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141880444 ◽  
Author(s):  
Arne-Christoph Hildebrandt ◽  
Konstantin Ritt ◽  
Daniel Wahrmann ◽  
Robert Wittmann ◽  
Felix Sygulla ◽  
...  
Keyword(s):  
Real Time ◽  
Kinematic Model ◽  
Bipedal Locomotion ◽  
Full Potential ◽  
Normal Walking ◽  
Kinematic Range ◽  
Bipedal Robots ◽  
Uneven Terrain ◽  
2D Model

Bipedal robots can be better alternatives to other robots in certain applications, but their full potential can only be used if their entire kinematic range is cleverly exploited. Generating motions that are not only dynamically feasible but also take into account the kinematic limits as well as collisions in real time is one of the main challenges towards that goal. We present an approach to generate adaptable torso height trajectories to exploit the full kinematic range in bipedal locomotion. A simplified 2D model approximates the robot’s full kinematic model for multiple steps ahead. It is used to optimize the torso height trajectories while taking future motion kinematics into account. The method significantly improves the robot’s motion not only while walking in uneven terrain, but also during normal walking. Furthermore, we integrated the method in our framework for autonomous walking and we validated its real-time character in successfully conducted experiments.

Tu2016 COLONIC ENDOSCOPIC SUBMUCOSAL DISSECION USING EASE ROBOTIC SYSTEM - A PRECLINICAL STUDY

2019 ◽  
Vol 89 (6) ◽  
pp. AB658-AB659
Author(s):  
Philip Wai Yan W. Chiu ◽  
Soo Jay Phee ◽  
Khek-Yu Ho
Keyword(s):  
Preclinical Study ◽  
Robotic System ◽  
System A

Walking biped humanoids that perform manual labour

2006 ◽  
Vol 365 (1850) ◽  
pp. 65-77 ◽  
Author(s):  
Hirohisa Hirukawa
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Humanoid Robotics ◽  
Industrial Plants ◽  
Cooperative Tasks ◽  
Manual Labour

The Humanoid Robotics Project of the Ministry of Economy, Trade and Industry of Japan realized that biped humanoid robots can perform manual labour. The project developed humanoid robot platforms, consisting of humanoid robot hardware and a package of fundamental software, and explored applications of humanoid robots on them. The applications include maintenance tasks of industrial plants, teleoperation of industrial vehicles, cooperative tasks with a human, guarding the home and office and the care of patients in beds.

An Approach for the Design of Walking Humanoid Robots Having Different Leg Mechanisms and Using Dynamic Gaits

2001 ◽  
Author(s):  
Olivier Bruneau ◽  
Fethi Ben Ouezdou ◽  
Jean-Guy Fontaine
Keyword(s):  
Design Process ◽  
Humanoid Robots ◽  
Bipedal Robots ◽  
The Third ◽  
Simulation Results ◽  
Leg Mechanisms

Abstract This article describes a method to design humanoid robots and to generate their dynamic gaits. Firstly, the global design process which defines structures able to carry out dynamic locomotion tasks is explained. Secondly, a set of leg mechanisms are described to generate these tasks. The third section describes a method to produce intrinsic smooth motions for fest walking gaits of bipedal robots having different leg mechanisms. Finally, some simulation results are given.

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