Voice-Controlled Biped Walking Robot for Industrial Applications

Mechanical IoT is proceeding to extend from assembling and keen homes to retail, nourishment bundling, social insurance, and other use cases. For the present makers, modern IoT is quickly turning into an unquestionable requirement on creation lines for reasons of adequacy and hazard relief. Checking sensors must coordinate with generation line gear, including robots. Information streams and checking/announcing modules can give basic way data, trigger reaction conventions, and influence different exercises being followed on different modern systems. Modern IoT can expand perceivability into the states of robots in a production line, ranch, stockroom, or emergency clinic. Data about parts and gear can consistently observe to augment profitability and to decrease line personal time. Voice assistant robot takes the commands of the operator or mentor sets the functionality accordingly which is stored in the database and then execute the given task.

Dynamic Modeling of the Dissipative Contact and Friction Forces of a Passive Biped-Walking Robot

This work presents and discusses a general approach for the dynamic modeling and analysis of a passive biped walking robot, with a particular focus on the feet-ground contact interaction. The main purpose of this investigation is to address the supporting foot slippage and viscoelastic dissipative contact forces of the biped robot-walking model and to develop its dynamics equations for simple and double support phases. For this investigation, special attention has been given to the detection of the contact/impact between the legs of the biped and the ground. The results have been obtained with multibody system dynamics applying forward dynamics. This study aims at examining and comparing several force models dealing with different approaches in the context of multibody system dynamics. The normal contact forces developed during the dynamic walking of the robot are evaluated using several models: Hertz, Kelvin-Voight, Hunt and Crossley, Lankarani and Nikravesh, and Flores. Thanks to this comparison, it was shown that the normal force that works best for this model is the dissipative Nonlinear Flores Contact Force Model (hysteresis damping parameter - energy dissipation). Likewise, the friction contact/impact problem is solved using the Bengisu equations. The numerical results reveal that the stable periodic solutions are robust. Integrators and resolution methods are also purchased, in order to obtain the most efficient ones for this model.

Bionics Design of Artificial Leg and Experimental Modeling Research of Pneumatic Artificial Muscles

In the research and development of intelligent prosthesis, some of performance test experiments are required. In order to provide an ideal experimental platform for the performance test of intelligent prosthesis, a heterogeneous biped walking robot model is proposed. Artificial leg is an important part of heterogeneous biped walking robot, and its main function is to simulate the disabled a healthy normal gait, which provides intelligent bionic legs gait to follow the target trajectory. The pneumatic artificial muscles (PAM) have good application in the artificial leg. The bionic design of artificial leg mainly includes the structure of hip joint, knee joint, and ankle joint, adopting the four-bar mechanism as the mechanical structure of the knee joint, and PAM are used as the driving source of the knee joint. Secondly, the PAM performance test platform is built to establish the relationship among output force, shrinkage rate, and input pressure under the measured isobaric conditions, and the mathematical model of PAM is established. Finally, the virtual prototype technology is used to build a joint simulation platform, and PID control algorithm is used for verification simulation. The results show that the artificial leg can follow the target trajectory.

Design and Development of the Cassino Biped Locomotor

In this work, the Cassino Biped Locomotor, a biped walking robot, is presented as the leg design by using reduced parallel mechanisms. The proposed biped locomotor consists of two identical tripod leg mechanisms with a three degree-of-freedom parallel manipulator architecture. Kinematics analysis is carried out in terms of the forward and inverse kinematics of one leg mechanism and inverse kinematics of the biped locomotor. The walking operation is discussed in detail with gait planning and trajectories of feet and waist. A CAD model is elaborated in solidworks® environment and the corresponding prototype is fabricated with low-cost user-oriented features by using commercial components and structural parts that are manufactured by using 3D printing. An experimental layout and corresponding test modes are illustrated for characterizing the walking operation performance. Experimental results are analyzed for an operation performance evaluation and architecture design characterization of the Cassino Biped Locomotor.