This article proposes an analytical development for the inverseand forward kinematics of a robotic leg for robots biologically-inspired in insects. The forward and inverse kinematics is a part of the solution to models of path planning for robotic legs. The method Denavit-Hartenberg was used for the development of forward kinematics. The inverse kinematics was found using the method of inverse transformation matrices. The developed equations’ results were compared tothe results of functions fkine and ikine of the robotics to olbox for Matlab, analyzing numerical and analytic calolution for the inverse kinematics.
Insect inspired hexapod robot for terrain navigationeSAT Journals
Abstract The aim of this paper is to build a sixlegged walking robot that is capable of basicmobility tasks such as walking forward, backward, rotating in place and raising orlowering the body height. The legs will be of a modular design and will have threedegrees of freedom each. This robot will serve as a platform onto which additionalsensory components could be added, or which could be programmed to performincreasingly complex motions. This report discusses the components that make up ourfinal design.In this paper we have selected ahexapod robot; we are focusing &developingmainly on efficient navigation method indifferent terrain using opposite gait of locomotion, which will make it faster and at sametime energy efficient to navigate and negotiate difficult terrain.This paper discuss the Features, development, and implementation of the Hexapod robot Index Terms:Biologically inspired, Gait Generation,Legged hexapod, Navigation.
Implementation of an Algorithm for the Locomotion of Quadruped Robot with Bim...IJERA Editor
In the last decades the rising of higher processing power computers, together with more sophisticated robot actuators gave an impulse to the field of autonomous robots in robotics. The need to explore dirty, dangerous and difficult terrains is a suitable task for a robot, sparing a human from hazards of the environment. Even though wheeled robots have been used in great scale for explorations, its configuration has the downside of obstacle impediment and depending on the terrain its wheels can get stuck. The legged robot presents more versatility allowing him to surpass such obstacles in some cases. This article presents the continuation of the development of an quadruped robot with biomorphic insect leg.
Manipulability index of a parallel robot manipulatorIAEME Publication
This document discusses manipulability index, which is a measure of a robot's ability to manipulate objects in different positions and orientations. It defines manipulability index as the determinant of the product of a robot's Jacobian matrix and its transpose. A higher manipulability index indicates better velocity transmission capabilities and dexterity. The document analyzes manipulability index values for different robot structures using MATLAB. It also describes how velocity and force ellipsoids can represent a robot's velocity and force transmission characteristics based on its Jacobian matrix.
Development of a quadruped mobile robot and its movement system using geometr...journalBEEI
As the main testbed platform of Artificial Intelligence, the robot plays an essential role in creating an environment for industrial revolution 4.0. According to their bases, the robot can be categorized into a fixed based robot and a mobile robot. Current robotics research direction is interesting since people strive to create a mobile robot able to move in the land, water, and air. This paper presents development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics. The study is related to the movement of a four-legged (quadruped) mobile robot with three Degrees of Freedom (3 DOF) for each leg. Because it has four legs, the movement of the robot can only be done through coordinating the movements of each leg. In this study, the trot gait pattern method is proposed to coordinate the movement of the robot's legs. The end-effector position of each leg is generated by a simple trajectory generator with half rectified sine wave pattern. Furthermore, to move each robot's leg, it is proposed to use geometric-based inverse kinematic. The experimental results showed that the proposed method succeeded in moving the mobile robot with precision. Movement errors in the translation direction are 1.83% with the average pose error of 1.33 degrees, means the mobile robot has good walking stability.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
This document describes research on designing mechatronic systems for human balance rehabilitation. It discusses key human balance systems - vision, vestibular, and somatosensory systems. It then introduces the concept of Zero Moment Point (ZMP), which is important for bipedal robot balance and gait analysis. ZMP represents the point where the total momentum of a mechanism is zero. The document explains how to calculate ZMP and compares it to the Center of Pressure. Maintaining the ZMP inside the support polygon is necessary for dynamic stability. This research aims to apply insights into human balance maintenance to develop rehabilitation technologies.
The document discusses social commerce and how retailers can leverage social media platforms like Facebook Connect and engage customers. It provides examples of how companies like Levi's and Amazon have integrated social features. Recommendations are given on how smaller e-retailers can develop intelligence and move their online stores closer to the future by taking advantage of social commerce opportunities on mobile devices. Check-ins and sharing on social media are highlighted as ways to drive traffic and offer promotions.
Insect inspired hexapod robot for terrain navigationeSAT Journals
Abstract The aim of this paper is to build a sixlegged walking robot that is capable of basicmobility tasks such as walking forward, backward, rotating in place and raising orlowering the body height. The legs will be of a modular design and will have threedegrees of freedom each. This robot will serve as a platform onto which additionalsensory components could be added, or which could be programmed to performincreasingly complex motions. This report discusses the components that make up ourfinal design.In this paper we have selected ahexapod robot; we are focusing &developingmainly on efficient navigation method indifferent terrain using opposite gait of locomotion, which will make it faster and at sametime energy efficient to navigate and negotiate difficult terrain.This paper discuss the Features, development, and implementation of the Hexapod robot Index Terms:Biologically inspired, Gait Generation,Legged hexapod, Navigation.
Implementation of an Algorithm for the Locomotion of Quadruped Robot with Bim...IJERA Editor
In the last decades the rising of higher processing power computers, together with more sophisticated robot actuators gave an impulse to the field of autonomous robots in robotics. The need to explore dirty, dangerous and difficult terrains is a suitable task for a robot, sparing a human from hazards of the environment. Even though wheeled robots have been used in great scale for explorations, its configuration has the downside of obstacle impediment and depending on the terrain its wheels can get stuck. The legged robot presents more versatility allowing him to surpass such obstacles in some cases. This article presents the continuation of the development of an quadruped robot with biomorphic insect leg.
Manipulability index of a parallel robot manipulatorIAEME Publication
This document discusses manipulability index, which is a measure of a robot's ability to manipulate objects in different positions and orientations. It defines manipulability index as the determinant of the product of a robot's Jacobian matrix and its transpose. A higher manipulability index indicates better velocity transmission capabilities and dexterity. The document analyzes manipulability index values for different robot structures using MATLAB. It also describes how velocity and force ellipsoids can represent a robot's velocity and force transmission characteristics based on its Jacobian matrix.
Development of a quadruped mobile robot and its movement system using geometr...journalBEEI
As the main testbed platform of Artificial Intelligence, the robot plays an essential role in creating an environment for industrial revolution 4.0. According to their bases, the robot can be categorized into a fixed based robot and a mobile robot. Current robotics research direction is interesting since people strive to create a mobile robot able to move in the land, water, and air. This paper presents development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics. The study is related to the movement of a four-legged (quadruped) mobile robot with three Degrees of Freedom (3 DOF) for each leg. Because it has four legs, the movement of the robot can only be done through coordinating the movements of each leg. In this study, the trot gait pattern method is proposed to coordinate the movement of the robot's legs. The end-effector position of each leg is generated by a simple trajectory generator with half rectified sine wave pattern. Furthermore, to move each robot's leg, it is proposed to use geometric-based inverse kinematic. The experimental results showed that the proposed method succeeded in moving the mobile robot with precision. Movement errors in the translation direction are 1.83% with the average pose error of 1.33 degrees, means the mobile robot has good walking stability.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
This document describes research on designing mechatronic systems for human balance rehabilitation. It discusses key human balance systems - vision, vestibular, and somatosensory systems. It then introduces the concept of Zero Moment Point (ZMP), which is important for bipedal robot balance and gait analysis. ZMP represents the point where the total momentum of a mechanism is zero. The document explains how to calculate ZMP and compares it to the Center of Pressure. Maintaining the ZMP inside the support polygon is necessary for dynamic stability. This research aims to apply insights into human balance maintenance to develop rehabilitation technologies.
The document discusses social commerce and how retailers can leverage social media platforms like Facebook Connect and engage customers. It provides examples of how companies like Levi's and Amazon have integrated social features. Recommendations are given on how smaller e-retailers can develop intelligence and move their online stores closer to the future by taking advantage of social commerce opportunities on mobile devices. Check-ins and sharing on social media are highlighted as ways to drive traffic and offer promotions.
Power Quality Improvement at Distribution Level for Grid Connected Renewable ...IJERA Editor
This document summarizes a research paper that proposes a control method for grid-connected inverters used with renewable energy sources. The control method allows the inverter to perform four functions without additional hardware: 1) transfer active power from the renewable source to the grid, 2) support load reactive power demand, 3) compensate for current harmonics at the point of common coupling, and 4) compensate for current imbalance and neutral current in a 3-phase 4-wire system. Extensive MATLAB simulations demonstrate the inverter's ability to maintain power quality standards without adding hardware costs.
A Novel Solitude Conserving Location Monitoring Approach for Wireless Sensor ...IJERA Editor
Observing individual locations with a capable untrusted server impose secrecy threats to the monitored individuals. In this paper we propose “A Novel Solitude Conserving Location Monitoring approach for Wireless Sensor networks”. We design two approaches to study nondescript locations in-network approaches, namely quality-aware and resource-aware approaches, that aims to enable the system to give high end quality location monitoring services for end users, while conserving personal location privacy. Both approaches are worked based on k-anonymity solitude (i.e.,an object is indistinguishable among k objects), to enable highly trusted sensor nodes to provide the collective location data of monitored objects for our system. Each collective location is in a form of a observed area X along with the number of monitored objects reside in X. The resource-aware approach objective to optimize the computational and communication value, while quality-aware approach aims to increase the reliability of the collective location data by reducing their observing areas. We use spatial histogram methodology to estimates the distribution of observing objects based on the gathered collective location data. We evaluated these two approaches through simulated experiments. The simulation results shows that these approaches gives high quality location observing services for end users and assure the location secrecy of the monitored objects.
The expansion of power generation in Saudi Arabia is essential in order to meet the expected growth of its electricity demand. Due to the availability of high solar irradiation, vast rainless area and longtime sun light, Saudi Arabia is one of the most suitable countries to utilize solar energy resources in greater extend. Kingdom has planned to increase the production of solar power in order to meet a considerable share of country’s future energy demand. Numerous installation and research works are going on nowadays in the kingdom in order to attain its targets of solar power capacity in the coming years. Hence latest updates of country’s solar industry are essential for further research and R&D works in this field. Saudi Arabia’s current status and future possibility of solar industry are discussed in this paper.
Este documento presenta un trabajo práctico sobre informática de la Universidad Católica de Santiago del Estero. Contiene 14 preguntas sobre conceptos básicos de informática como la diferencia entre hardware y software, componentes de una computadora, unidades de almacenamiento, periféricos de entrada y salida, y descripciones de equipos de computación. El objetivo es que los estudiantes demuestren su comprensión de estos conceptos fundamentales de informática.
Extensive Reviews of OSPF and EIGRP Routing Protocols based on Route Summariz...IJERA Editor
The increasing demand of computer networks is growing rapidly day by day. The growing need to distribute applications across multiple networks with high capacity and high-performance intermediate switching nodes and networks. This research primarily focuses on route redistribution and route summarization of different intra-domain routing protocols such as EIGRP and OSPF. Routing Protocols that use facilitate to exchange routing information between routers. Reasons such as multiple departments managed by multiple network Administrators, company mergers. In any case, having a multiple routing protocol and different autonomous system in networks then without route redistribution we cannot advertise route from source to destination. Of course Network complexity will increase with the size of routing table of routers then route summarization is necessity, to reduce traffic and complexity of network.
Este documento presenta una unidad didáctica de 8 sesiones sobre números decimales para alumnos de 5o grado. Los objetivos son leer, escribir, comparar y ordenar números decimales, así como aproximarlos y usarlos para expresar cantidades de dinero. El contenido incluye décimas, centésimas y milésimas, con actividades en libros de texto y en línea. La evaluación es continua a través de observación y producciones de los alumnos. Se proporcionan adaptaciones para alumnos con necesidades especiales.
The document discusses the benefits of exercise for mental health. Regular physical activity can help reduce anxiety and depression and improve mood and cognitive functioning. Exercise causes chemical changes in the brain that may help protect against mental illness and improve symptoms.
The document discusses the benefits of exercise for mental health. Regular physical activity can help reduce anxiety and depression and improve mood and cognitive functioning. Exercise causes chemical changes in the brain that may help protect against mental illness and improve symptoms.
1) Jeroboão expulsou sacerdotes e levitas de Israel para constituir seus próprios sacerdotes.
2) O rei Asa depôs sua própria mãe da posição de rainha-mãe por ela ter feito uma imagem abominável.
3) O rei Josafá foi repreendido por ter se aliado com reis perversos de Israel, apesar de ter feito o que era reto.
Este documento apresenta um projeto de pesquisa sobre a administração do Imposto Predial e Territorial Urbano (IPTU) na cidade de Juazeiro, Bahia, de acordo com a Lei de Responsabilidade Fiscal. O projeto aborda a importância do IPTU para o município e para os cidadãos, as funções do administrador municipal, e analisa se a lei está sendo cumprida em Juazeiro, especialmente no que se refere à infraestrutura da cidade. A metodologia inclui pesquisa bibliográfica, descritiva, questionários
Cloud computing is an on demand service in which shared resources, information, software and other devices are provided to the end user as per their requirement at a specific time. A cloud consists of several elements such as clients, datacenters and distributed servers. There are n number of clients and end users involved in cloud environment. These clients may make requests to the cloud system simultaneously, making it difficult for the cloud to manage the entire load at a time. The load can be CPU load, memory load, delay or network load. This might cause inconvenience to the clients as there may be delay in the response time or it might affect the performance and efficiency of the cloud environment. So, the concept of load balancing is very important in cloud computing to improve the efficiency of the cloud. Good load balancing makes cloud computing more efficient and improves user satisfaction. This paper gives an approach to balance the incoming load in cloud environment by making partitions of the public cloud.
Performance of RGB and L Base Supervised Classification Technique Using Multi...IJERA Editor
In the present growth of sensor technology is to improve the new chance and applications in GIS. This enhances the technology law a new method that should not focus on real time available products, but it must automatically lead to new ones. The aim of the paper is to make a maximum use of remote sensing data and GIS techniques to access land use and land cover classification in the Kiliyar sub basin sector in palar river of northen part of Tamil Nadu.IRS P6 LISS III is merged data to perform the classification using ERDAS Imaging. The RGB and L base supervised classification was based up on a Multispectral analysis, land use and land cover information‟s (maps and existing reports), which involves advanced technology and complex data processing to find detailed imagery in the study region. Ground surface reflects more radar energy emitted by the sensor from the study region, which makes it easy to distinguish between the water body, hilly, agriculture, settlement and wetland.
This document presents an inverse kinematics solution method for an 11 degree-of-freedom biped robot. It describes the mechanical design of the biped robot, which consists of 5 links per leg connected by revolute joints, as well as a link for the torso. It then establishes a kinematic model using Denavit-Hartenberg parameters to define the coordinate frames of each link. The document proposes an inverse kinematics approach that views each leg in reverse order to derive closed-form solutions for the joint angles based on the desired end effector position and orientation. Geometric relationships are used to formulate equations to solve for the hip, knee, and ankle joint angles of each leg given the position of the foot.
Inverse Kinematics Solution for Biped RobotIOSR Journals
This document presents an inverse kinematics solution method for an 11 degree-of-freedom biped robot. It describes the mechanical design of the biped robot, which consists of 5 links per leg connected by revolute joints, as well as a link for the torso. It then establishes a kinematic model using Denavit-Hartenberg parameters to define the coordinate frames of each link. The document proposes an inverse kinematics approach that views each leg in reverse order to derive closed-form solutions for the joint angles based on the desired end effector position and orientation. Geometric relationships are used to formulate equations to solve for the hip, knee, and ankle joint angles of each leg given the position of the foot.
Power Quality Improvement at Distribution Level for Grid Connected Renewable ...IJERA Editor
This document summarizes a research paper that proposes a control method for grid-connected inverters used with renewable energy sources. The control method allows the inverter to perform four functions without additional hardware: 1) transfer active power from the renewable source to the grid, 2) support load reactive power demand, 3) compensate for current harmonics at the point of common coupling, and 4) compensate for current imbalance and neutral current in a 3-phase 4-wire system. Extensive MATLAB simulations demonstrate the inverter's ability to maintain power quality standards without adding hardware costs.
A Novel Solitude Conserving Location Monitoring Approach for Wireless Sensor ...IJERA Editor
Observing individual locations with a capable untrusted server impose secrecy threats to the monitored individuals. In this paper we propose “A Novel Solitude Conserving Location Monitoring approach for Wireless Sensor networks”. We design two approaches to study nondescript locations in-network approaches, namely quality-aware and resource-aware approaches, that aims to enable the system to give high end quality location monitoring services for end users, while conserving personal location privacy. Both approaches are worked based on k-anonymity solitude (i.e.,an object is indistinguishable among k objects), to enable highly trusted sensor nodes to provide the collective location data of monitored objects for our system. Each collective location is in a form of a observed area X along with the number of monitored objects reside in X. The resource-aware approach objective to optimize the computational and communication value, while quality-aware approach aims to increase the reliability of the collective location data by reducing their observing areas. We use spatial histogram methodology to estimates the distribution of observing objects based on the gathered collective location data. We evaluated these two approaches through simulated experiments. The simulation results shows that these approaches gives high quality location observing services for end users and assure the location secrecy of the monitored objects.
The expansion of power generation in Saudi Arabia is essential in order to meet the expected growth of its electricity demand. Due to the availability of high solar irradiation, vast rainless area and longtime sun light, Saudi Arabia is one of the most suitable countries to utilize solar energy resources in greater extend. Kingdom has planned to increase the production of solar power in order to meet a considerable share of country’s future energy demand. Numerous installation and research works are going on nowadays in the kingdom in order to attain its targets of solar power capacity in the coming years. Hence latest updates of country’s solar industry are essential for further research and R&D works in this field. Saudi Arabia’s current status and future possibility of solar industry are discussed in this paper.
Este documento presenta un trabajo práctico sobre informática de la Universidad Católica de Santiago del Estero. Contiene 14 preguntas sobre conceptos básicos de informática como la diferencia entre hardware y software, componentes de una computadora, unidades de almacenamiento, periféricos de entrada y salida, y descripciones de equipos de computación. El objetivo es que los estudiantes demuestren su comprensión de estos conceptos fundamentales de informática.
Extensive Reviews of OSPF and EIGRP Routing Protocols based on Route Summariz...IJERA Editor
The increasing demand of computer networks is growing rapidly day by day. The growing need to distribute applications across multiple networks with high capacity and high-performance intermediate switching nodes and networks. This research primarily focuses on route redistribution and route summarization of different intra-domain routing protocols such as EIGRP and OSPF. Routing Protocols that use facilitate to exchange routing information between routers. Reasons such as multiple departments managed by multiple network Administrators, company mergers. In any case, having a multiple routing protocol and different autonomous system in networks then without route redistribution we cannot advertise route from source to destination. Of course Network complexity will increase with the size of routing table of routers then route summarization is necessity, to reduce traffic and complexity of network.
Este documento presenta una unidad didáctica de 8 sesiones sobre números decimales para alumnos de 5o grado. Los objetivos son leer, escribir, comparar y ordenar números decimales, así como aproximarlos y usarlos para expresar cantidades de dinero. El contenido incluye décimas, centésimas y milésimas, con actividades en libros de texto y en línea. La evaluación es continua a través de observación y producciones de los alumnos. Se proporcionan adaptaciones para alumnos con necesidades especiales.
The document discusses the benefits of exercise for mental health. Regular physical activity can help reduce anxiety and depression and improve mood and cognitive functioning. Exercise causes chemical changes in the brain that may help protect against mental illness and improve symptoms.
The document discusses the benefits of exercise for mental health. Regular physical activity can help reduce anxiety and depression and improve mood and cognitive functioning. Exercise causes chemical changes in the brain that may help protect against mental illness and improve symptoms.
1) Jeroboão expulsou sacerdotes e levitas de Israel para constituir seus próprios sacerdotes.
2) O rei Asa depôs sua própria mãe da posição de rainha-mãe por ela ter feito uma imagem abominável.
3) O rei Josafá foi repreendido por ter se aliado com reis perversos de Israel, apesar de ter feito o que era reto.
Este documento apresenta um projeto de pesquisa sobre a administração do Imposto Predial e Territorial Urbano (IPTU) na cidade de Juazeiro, Bahia, de acordo com a Lei de Responsabilidade Fiscal. O projeto aborda a importância do IPTU para o município e para os cidadãos, as funções do administrador municipal, e analisa se a lei está sendo cumprida em Juazeiro, especialmente no que se refere à infraestrutura da cidade. A metodologia inclui pesquisa bibliográfica, descritiva, questionários
Cloud computing is an on demand service in which shared resources, information, software and other devices are provided to the end user as per their requirement at a specific time. A cloud consists of several elements such as clients, datacenters and distributed servers. There are n number of clients and end users involved in cloud environment. These clients may make requests to the cloud system simultaneously, making it difficult for the cloud to manage the entire load at a time. The load can be CPU load, memory load, delay or network load. This might cause inconvenience to the clients as there may be delay in the response time or it might affect the performance and efficiency of the cloud environment. So, the concept of load balancing is very important in cloud computing to improve the efficiency of the cloud. Good load balancing makes cloud computing more efficient and improves user satisfaction. This paper gives an approach to balance the incoming load in cloud environment by making partitions of the public cloud.
Performance of RGB and L Base Supervised Classification Technique Using Multi...IJERA Editor
In the present growth of sensor technology is to improve the new chance and applications in GIS. This enhances the technology law a new method that should not focus on real time available products, but it must automatically lead to new ones. The aim of the paper is to make a maximum use of remote sensing data and GIS techniques to access land use and land cover classification in the Kiliyar sub basin sector in palar river of northen part of Tamil Nadu.IRS P6 LISS III is merged data to perform the classification using ERDAS Imaging. The RGB and L base supervised classification was based up on a Multispectral analysis, land use and land cover information‟s (maps and existing reports), which involves advanced technology and complex data processing to find detailed imagery in the study region. Ground surface reflects more radar energy emitted by the sensor from the study region, which makes it easy to distinguish between the water body, hilly, agriculture, settlement and wetland.
This document presents an inverse kinematics solution method for an 11 degree-of-freedom biped robot. It describes the mechanical design of the biped robot, which consists of 5 links per leg connected by revolute joints, as well as a link for the torso. It then establishes a kinematic model using Denavit-Hartenberg parameters to define the coordinate frames of each link. The document proposes an inverse kinematics approach that views each leg in reverse order to derive closed-form solutions for the joint angles based on the desired end effector position and orientation. Geometric relationships are used to formulate equations to solve for the hip, knee, and ankle joint angles of each leg given the position of the foot.
Inverse Kinematics Solution for Biped RobotIOSR Journals
This document presents an inverse kinematics solution method for an 11 degree-of-freedom biped robot. It describes the mechanical design of the biped robot, which consists of 5 links per leg connected by revolute joints, as well as a link for the torso. It then establishes a kinematic model using Denavit-Hartenberg parameters to define the coordinate frames of each link. The document proposes an inverse kinematics approach that views each leg in reverse order to derive closed-form solutions for the joint angles based on the desired end effector position and orientation. Geometric relationships are used to formulate equations to solve for the hip, knee, and ankle joint angles of each leg given the position of the foot.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
A Bionic gait programming algorithm for Hexapod RobotHao Yuan Cheng
This document discusses the development of a bionic gait programming algorithm for controlling the movement of a hexapod robot. It analyzes the walking gait and kinematic characteristics of hexapod robots. The algorithm controls the joint angles based on inverse kinematic analysis to achieve different types of locomotion, such as straight walking using a tripod gait and turning movements. Experimental results demonstrated the effectiveness of the control algorithm.
Integral Backstepping Approach for Mobile Robot ControlTELKOMNIKA JOURNAL
This document summarizes an approach for mobile robot control using an integral backstepping approach. It begins by introducing mobile robots and their applications, as well as existing control approaches. It then presents the dynamic model of a unicycle-type mobile robot. Next, it describes the proposed control architecture, which uses a kinematic controller for the outer loop and an integral PI/backstepping controller for the dynamic model. Finally, it outlines the design of the nonlinear PI-based backstepping controller, including the error functions, Lyapunov functions, and virtual control inputs. The goal is to improve robustness when dynamic parameters are unknown.
Turning robot locomotion using truncated fourier series and gravitational sea...kameltreen
This document proposes using truncated Fourier series and gravitational search algorithm to generate walking and turning motions for a biped robot locomotion. It discusses using truncated Fourier series to model joint angle trajectories from recorded human gaits. The gravitational search algorithm is then used to optimize the Fourier parameters to improve the robot's walk. Simulation results on the NAO robot show it can walk and turn without falling when no external forces are applied.
Robotic Leg Design to Analysis the Human Leg Swing from Motion CapturejournalBEEI
The document describes the design of a robotic leg to analyze human leg swing motion from motion capture data. Key points:
- The robotic leg is designed with three degrees of freedom (hip, knee, ankle joints) using servo motors for actuation. It is constructed from aluminum and acrylic to be lightweight.
- Motion capture data of human leg movement is used to control the robotic leg. Inverse kinematics equations are developed to calculate required joint angles from captured position data.
- Testing showed the robotic leg could replicate leg swing motion with average errors of 1.46 degrees at the hip joint, 1.66 degrees at the knee joint, and 0.46 degrees at the ankle joint.
- The
This document summarizes three algorithms for multi-robot path planning: Bacteria Foraging Optimization (BFO), Ant Colony Optimization (ACO), and Particle Swarm Optimization (PSO). BFO mimics the movement of bacteria in search of food to find optimal paths. ACO is inspired by how ants find food paths using pheromone trails; the algorithm uses heuristic information and state transition rules. PSO is based on the social behaviors of bird flocking and fish schooling; it represents solutions as particles that fly through the problem space following certain rules.
This document summarizes three algorithms for multi-robot path planning: Bacteria Foraging Optimization (BFO), Ant Colony Optimization (ACO), and Particle Swarm Optimization (PSO). BFO mimics the movement of bacteria in searching for nutrients to find optimal paths. ACO is inspired by how ants find food by leaving and following pheromone trails. PSO is based on the social behavior of bird flocking and fish schooling, with robots updating their movements based on their own experiences and those of nearby robots. The document reviews the mechanisms and applications of each algorithm for solving multi-robot path planning problems.
The robot, named Gaitor, was designed to mimic the gait of an alligator in order to walk a distance of 30 times its largest body dimension within two minutes. It was modeled after the alligator's belly crawl gait and constructed using 3D printed parts and eight servo motors. Testing showed that it could travel the required distance on both carpet and concrete in under two minutes, completing the carpet course in 1 minute and 32 seconds with three repositions and the concrete course in 1 minute and 27 seconds with one reposition. While successful overall, the robot had a tendency to veer slightly left after traveling a short distance in a straight line.
Stability Analysis of Quadruped-imitating Walking Robot Based on Inverted Pen...IJERA Editor
A new kind of quadruped-imitating walking robot is designed, which is composed of a body bracket, leg
brackets and walking legs. The walking leg of the robot is comprised of a first swiveling arm, a second
swiveling arm and two striding leg rods. Each rod of the walking leg is connected by a rotary joint, and is
directly controlled by the steering gear. The walking motion is realized by two striding leg rods alternately
contacting the ground. Three assumptions are put forward according to the kinematic characteristics of the
quadruped-imitating walking robot, and then the centroid equation of the robot is established. On this basis, this
paper simplifies the striding process of the quadruped-imitating walking robot into an inverted pendulum model
with a constant fulcrum and variable pendulum length. According to the inverted pendulum model, the stability
of the robot is not only related to its centroid position, but also related to its centroid velocity. Takes two typical
movement cases for example, such as walking on flat ground and climbing the vertical obstacle, the centroid
position, velocity curves of the inverted pendulum model are obtained by MATLAB simulations. The results
show that the quadruped-imitating walking robot is stable when walking on flat ground. In the process of
climbing the vertical obstacle, the robot also can maintain certain stability through real-time control adjusted by
the steering gears.
Stability Analysis of Quadruped-imitating Walking Robot Based on Inverted Pen...IJERA Editor
A new kind of quadruped-imitating walking robot is designed, which is composed of a body bracket, leg
brackets and walking legs. The walking leg of the robot is comprised of a first swiveling arm, a second
swiveling arm and two striding leg rods. Each rod of the walking leg is connected by a rotary joint, and is
directly controlled by the steering gear. The walking motion is realized by two striding leg rods alternately
contacting the ground. Three assumptions are put forward according to the kinematic characteristics of the
quadruped-imitating walking robot, and then the centroid equation of the robot is established. On this basis, this
paper simplifies the striding process of the quadruped-imitating walking robot into an inverted pendulum model
with a constant fulcrum and variable pendulum length. According to the inverted pendulum model, the stability
of the robot is not only related to its centroid position, but also related to its centroid velocity. Takes two typical
movement cases for example, such as walking on flat ground and climbing the vertical obstacle, the centroid
position, velocity curves of the inverted pendulum model are obtained by MATLAB simulations. The results
show that the quadruped-imitating walking robot is stable when walking on flat ground. In the process of
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Analytical Development of the Forward and Inverse Kinematics of A Robotic Leg Biologically-Inspired In Insect
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Analytical Development of the Forward and Inverse Kinematics of A Robotic Leg Biologically-Inspired In Insect Gabriel Duarte Gonçalves Pedro*, Pedro Américo Almeida Magalhães Junior, Pontifícia Universidade Católica de Minas Gerais. Abstract
This article proposes an analytical development for the inverseand forward kinematics of a robotic leg for robots biologically-inspired in insects. The forward and inverse kinematics is a part of the solution to models of path planning for robotic legs. The method Denavit-Hartenberg was used for the development of forward kinematics. The inverse kinematics was found using the method of inverse transformation matrices. The developed equations’ results were compared tothe results of functions fkine and ikine of the robotics to olbox for Matlab, analyzing numerical and analytic calolution for the inverse kinematics.
I. INTRODUCTION
Robotics has had a special demand, especially after recent events such as the nuclear accident in Fukushima and incentives as DARPA Robotics Challenge, aimed at developing semi-autonomous ground robots dedicated to complex tasks in degraded and dangerous environments. Many of these researched robots own configurations with handlers to interact with the environment and / or locomotion (locomotion by Robots with legs). Mobile robots, regardless of their mean of locomotion, one can say that are used in unhealthy environments, also known as 3-Ds (Dirty, Dangerous, Difficulty). They are fundamentally vehicles capable of replacing humans in order to avoid endangering life, in all types of dangerous work that requires strong security measures or in areas which humans cannot easily access [1]. The variety of animals that move using legs is immense and their locomotion capability in different terrains and in different conditions is fascinating [1]. In this context, bionics, which has the principle of building robots inspired by biological systems (biologically-inspired robots), has inspired robotics research and the development of mobile machinery adapted to different environments (structured and unstructured). This article proposes an analytical development for the inverse and forward kinematics of a robotic leg for biologically-inspired robots in insects in which the forward and inverse kinematics is a part of the solution to models of path planning of the feet of the robotic leg. The method Denavit - Hartenberg [2][3][4][5] was used to find the model of forward kinematics. The inverse kinematics was developed analytically using the method of inverse transformation matrices proposed by [4] [5] [6]. The developed equations` results were compared to the results of functions
fkine and ikine of the robotics to olbox for Matlab[7], analyzing numerical and analytical solution for inverse kinematics. An analysis of biological in spiration for the development of a robotic leg for a robot insect is presented in topic II. In topic III the forward kine matice quations are developed. In topic IV the inverse kinematicse quations are developed. Topic V compared results obtained using analytical equations and functions of the Robotics Toolbox for five points in the work space of the robotic leg and on topic VI a conclusion is reached by analyzing the results and comparing the analytical and numerical method for the solution of inverse kinematics.
II. BIOLOGICAL INSPIRATION
The insects are some of the most successful creatures on Earth, being found in many different terrestrial environments. The configuration of the presented legisins pired by the legs of insects seeking advantages in locomotion per leginun structure denvironments. Many of the serobots have six legs and some were inspired by the stick in sectand the cockroach [10] [11].The legs of an insect are composed of 5 parts which are: Tarsus, Tibia, Femur, Trochanter and Coxa, Fig 1, and has 5 degrees of freedom, however, reproducing a robotic leg with 5 degrees of freedom increases the cost of its mechanism and control. For the theoretical perspective, three degrees of freedom has been shown to lower number of degrees of freedom necessary for the robot to have an omnidirectional walk [8] apud [9]. As an eventual simplification, Tarsus and trochanter are suppressed because of their size and function. Consequently the leg comprises three segments, Coxa, Femur and Tibia [8].
RESEARCH ARTICLE OPEN ACCESS
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Figure 1.Anatomical structure of a typical insect leg
[8] apud [9].
Once the format of the legs is defined, we can
think of robots that can use this type of leg, having
four or more legs. Sometimes the increase in the
number of legsis not interesting, because it increases
the complexity of the control and energy
consumption, since each joint will have an actuation
system. However with the increase on the number of
legs brings the guarantee of static balance for the
robot, asfor the step of one or more legs, there always
will be three or more legs supporting the body. A
quadruped robot shows an interesting number of legs,
because it has the minimum required quantity for the
robot to walk on static balance, and also allows it to
walk in dynamic balance when thinking about a walk
moving two legs at same time.Most insects have six
legs, however , if it’s intended to save energy a robot
with insect type configuration can have four legs so
having a reduction from six actuators having an
energy saving, and still being possible for a walk in
static balance although an insect with these features
does not exist in the wild. We can see an example of
the configuration of this robot in figure 2.
Figure 2.Four leg robot with insect inspiration
III. FORWARDKINEMATICS
Considering that the robot is in static balance, the
leg that will take a step will have its kinematic model
similar to a robotic manipulator, so the method of
Denavit–Hartenberg was used.
Having defined the segments of the robot leg
similar toan insect leg, Coxa, Femur and Tibia,the
guidelinesof the Denavit-Hartenberg algorithm
werefollowed according to [2] ,[3] , [4] and [5], given
the position of each coordinate axis of the joints of
robotic legs (Figure 3) where there are three rotational
joints (J1, J2, and J3) and L1, L2 and L3 links.
Figure 3.Position of the coordinate axes 0, 1, 2 and 3.
Following the method of Denavit - Hartenberg,
the robotic leg is placed in zero position which
corresponds to the position where all the angles of the
joints are equal to zero and all directions "x" are
aligned (Figure 4).
Figure 4.Zero position of Robotics Leg.
From the zero position of the robotic leg,
homogeneous transformation matrices were found:
A1, A2 and A3 (1, 2 and 3) using the parameters of
the Denavit-Hartenberg method (Table 1). The
following matrices were obtained:
TABLE 1.PARAMETERSOF DENAVIT-HATEMBERG
Link 훳 (°) α (°) L (m) D (m)
1 훳 1 90 L1 0
2 훳 2 0 L2 0
3 훳 3 0 L3 0
퐴1 =
cos(훳1) 0
sin(훳1) 0
0
0
1
0
sin(훳1) 퐿1 ∗ cos(훳1)
−cos(훳1) 퐿1 ∗ sin(훳1)
0
0
0
1
(1)
퐴2 =
cos(훳2) − sin(훳2)
sin(훳2) cos(훳2)
0
0
0
0
0 퐿2 ∗ cos(훳2)
0 퐿2 ∗ sin(훳2)
1
0
0
1
(2)
퐴3 =
cos(훳3) − sin(훳3)
sin(훳3) cos(훳3)
0
0
0
0
0 퐿3 ∗ cos(훳3)
0 퐿3 ∗ sin(훳3)
1
0
0
1
(3)
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The global transformation matrix푇03 (4)was found by multiplying the matrices A1, A2, and A3. 푇03= 퐴1∗퐴2∗퐴3 (4) Getting a matrix (5): 푇03= 푛푥푠푥 푛푦푠푦 푎푥푝푥 푎푦푝푦 푛푧푠푧 0 0 푎푧푝푧 0 1 (5) Where the terms "n", "s", and "a" are the unit direction vectors of the coordinate system three,and terms 푝푥,푝푦and푝푧are the terms of the position coordinate system threerelative to the coordinate system zero [4] [5],therefore푝푥, 푝푦and푝푧(6, 7 and 8) has the forward kinematic equations of the robot leg which are as follows: 푝푥=퐿1∗cos 훳1 +퐿2∗cos 훳2 ∗cos(훳1) −퐿3∗sin 훳3 ∗sin 훳2 ∗cos 훳1 +퐿3∗cos(훳3)∗cos(훳2)∗cos(훳1) (6) 푝푦=퐿1∗sin 훳1 +퐿2∗cos 훳2 ∗sin 훳1 −퐿3∗sin 훳3 ∗sin 훳2 ∗sin(훳1) +퐿3∗cos 훳3 ∗cos 훳2 ∗sin(훳1) (7) 푝=퐿2∗sin 훳2 +퐿3∗sin 훳3 ∗cos 훳2 +퐿3∗ cos훳3∗sin(훳2) (8) Where L1, L2 and L3 are the distances of each link; Ɵ1, Ɵ2 and Ɵ3 are the angles of the joints and px, py and pz is the Cartesian position X, Y and Z, respectively, of the tip of the robotic leg. It can be seen that these equations represent the position of the tip of the robotic leg, because calculating the zero position for all angles equal to zero, the expected result is obtained (10, 11, and 12): 푝푥=퐿1+퐿2+퐿3 (10) 푝푦=0 (11) 푝푧=0 (12)
IV. INVERSE KINEMATICS
The forward kinematics results in direct expressions that get the position of the tip of the robotic leg given angle values while inverse kinematics seeks to determine a set of values of the angles to suit a coordinated robotic leg tip [2], [3], [4] and [5]. The inverse kinematics generally does not have an analytic solution and sometimes isn’t even a solution. Also do not have a single methodology for its solution. [5].
As the leg has three degrees of freedom it was possible to find inverse kinematics analytically using the method of the inverse transformation matrix proposed by [4], [5] and [6].
Its methodology consists in using the inverse transformation in or derto obtain expressions with an easy solution [5].
If the equation (4) is true, then the equation (13) is true too:
퐴1−1∗푇03= 퐴2∗퐴3 (13)
Considering 푇03as the equation (5),and the inverse of A1 being (14):
퐴1−1= cos(훳1)sin(훳1) 00 sin(훳1) 0−cos(훳1) 00−퐿1100001 (14)
And the matrices A2 and A3 of the same equations (2) and (3) respectively.Solve the equation (13) and comparing the result of the elements of the fourth column of the matrices we obtain the following equations (15, 16 e 17):
푝푥∗cos 훳1 + 푝푦∗sin 훳1 −퐿1=
퐿2∗ cos 훳2 +퐿3∗cos 훳2 ∗cos 훳3
−퐿3∗sin 훳2 ∗sin(훳3) (15)
푝푧=퐿2∗sin 훳2 +퐿3∗cos 훳2 ∗sin 훳3
+퐿3∗cos 훳3 ∗sin 훳2 (16)
푝푥∗sin 훳1 − 푝푦∗cos 훳1 =0 (17)
Using equation (17) we find the equation for the angle 훳1, that is:
훳1=tan−1 푝푦 푝푥 (18)
To find the equation of the angle 훳3, call the function of the left side of the equation (15) of “v”.
푣=푝푥∗cos 훳1 + 푝푦∗sin 훳1 −퐿1
(19)
And equation (15) becomes:
푣 =퐿2∗ cos 훳2 +퐿3∗cos 훳2 ∗cos 훳3
−퐿3∗sin 훳2 ∗sin(훳3)
(20)
Then simplified equations (16) and (20) trigonometric and we obtain equations (21) and (22):
푣 =퐿2∗ cos 훳2 +퐿3∗cos 훳2+훳3 (21)
푝푧=퐿2∗sin 훳2 +퐿3∗sin 훳2+훳3 (22)
To simplify the equations (21) and (22) becomes the sum of 푣2+푝푧 2and apply some trigonometric properties, we obtain the equation (23).
푣2+푝푧 2=퐿22+퐿32+2∗퐿2∗퐿3∗cos(훳3) (23)
And isolating훳3we obtain the equation (24).
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훳3=cos−1 푣2+푝푧 2−퐿22−퐿322∗퐿2∗퐿3 −+ (24)
To find the equation 훳2, we use the VZ plane (Figure 5)
Figure 5.Plane VZ and angles θ2, θ3, 훂 퐞 훃
Observing figure we find the trigonometric relations (25), (26) and (27):
훳2= α−β (25)
tan(훼)= 푝푧 푣 (26)
tan(훽)= 퐿3∗sin(훳3) 퐿2+퐿3∗cos(훳3) (27)
And using the trigonometric property (28):
tan 퐴−퐵 = tan 퐴 −tan(퐵) 1+tan(퐴)∗tan(퐵) (28)
We find the equation (29) Substituting equations (25), (26) and (27) in equation (28) and performing some simplifications:
tan 훼−훽 =tan 훳2 = 푝푧∗ 퐿2+퐿3∗cos 훳3 −푣∗퐿3∗sin(훳3) 푣∗ 퐿2+퐿3∗cos 훳3 +푝푧∗퐿3∗sin(훳3)
(29)
Then we find Equation (30) which is the equation for the angle 훳2:
훳2=tan−1 푝푧∗ 퐿2+퐿3∗cos 훳3 −푣∗퐿3∗sin(훳3) 푣∗ 퐿2+퐿3∗cos 훳3 +푝푧∗퐿3∗sin(훳3)
(30)
Then the inverse kinematics equations are (18), (24) and (30) and the value of "v" in equation (19).
The leg has a kinematic redundancy at the third joint, and for configuring the type of insect legs is desired the negative results of the equation (24).
V. COMPARISONOFRESULTS
With the purpose of comparing the results of the equations developed, the distances of joints (L1, L2 and L3) were determined and two programs in Matlab were made. One of the programs calculates the forward and inverse kinematics using the equations developed in this article, being considered the negative results of the equation (24) since it ensures configuration like insect leg desired for the robotic leg. The other program calculates the forward and inverse kinematics using the fkine and ikine functions of the robotics toolbox for Matlab [7] where a virtual model of the robotic leg was created using the function SerialLink(L) where L corresponds to a matrix with parameters of Denavit-Hartenberg of robotic leg. The result of the calculation was compared to a set of five points that are present in the workspace of the robotic leg in the plane x=0.15m describinga step, and calculated inverse kinematics. With the result of the inverse kinematics, forward kinematics was calculated to determine whether it corresponds to the given point. The distances of joints used are: L1=0.06m; L2=0.09 and L3=0.15m. The five specific points are shown in Table 2. This procedure was done with the two mentioned programs in Matlab. Results of these calculations are presented in Tables 3 and 4.
TABLE 2.POINT PATH OF A STEP
Points
X(m)
Y(m)
Z(m)
A
0,15
0,1
-0,1
B
0,15
-0,1
-0,1
C
0,15
-0,06
-0,064
D
0,15
-0,1
-0,032
E
0,15
0,06
-0,064
TABLE3.CALCULATIONS ANALYTICAL EQUATIONS
Inverse Kinematics
Points
Ɵ1(°)
Ɵ2(°)
Ɵ3(°)
A
33,6901
29,3102
-103,1299
B
-33,6901
29,3102
-103,1299
C
-21,8014
57,7559
-126,8449
D
-33,6901
72,3110
-124,0284
E
21,8014
57,7559
-126,8449
Forward kinematics
Points
px(m)
py(m)
pz(m)
A
0,15
0,1
-0,1
B
0,15
-0,1
-0,1
C
0,15
-0,06
-0,064
D
0,15
-0,1
-0,032
E
0,15
0,06
-0,064
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TABLE 4.CALCULATION WITHTOOLBOX OF ROBOTICS FOR MATLAB
Inverse Kinematics(ikine)
Points
Ɵ1(°)
Ɵ2(°)
Ɵ3(°)
Iterations
A
33,6901
29,3102
- 103,1299
327
B
- 33,6901
- 108,7912
103,1299
294
C
- 21,8014
- 122,1942
126,8449
291
D
- 33,6901
- 287,6890
235,9716
329
E
21,8014
57,7559
- 126,8449
320
Forward kinematics(fkine)
Points
px(m)
py(m)
pz(m)
-
A
0,15
0,1
-0,1
-
B
0,15
-0,1
-0,1
-
C
0,15
-0,06
-0,064
-
D
0,15
-0,1
-0,032
-
E
0,15
0,06
-0,064
-
From the results of Tables 3 and 4,noticed that for points A and E results were equal and corresponds to the same configuration of the leg.For point D noticed that the values of the angles are different,but corresponds to the same configuration, because the angles Ɵ2 and Ɵ3 arecomplements angled at 360 ° however starting from different directions, The result of the function ikinefound the greatest distance to the point D and may be mechanically limited in practice by following their direction of rotation.The points B and C values of Ɵ2 are different and Ɵ3 have opposite signs because the corresponding redundant solution caused by kinematic redundancy present in the joint 3, being the solution of the functionikineanundesired configuration for leg robotics. The functionikinesolves the inverse kinematics by an iterative method using the pseudo inverse of the Jacobian[7].
VI. CONCLUSION
In this study, equations of forward and inverse kinematics for a robotic leg inspired in insect were found. The method of Denavit-Hartenberg shows itself as an easy application to obtain forward kinematic of any configuration of the leg. On the other hand, inverse kinematics is always a difficult problem to be solved. In this work, it was possible to obtain analytically the inverse kinematics for being a system with three degrees of freedom and the use of the method of inverse matrices. Obtaining the equations of the inverse kinematics showed certain advantages compared to the iterative solution used by the function ikine of the Toolbox of robotics. Iterative Solutions provides a possible solution that may not be the desired one, being sometimes necessary to be analyzed the result to obtain the desired solution. With the analytical equations is easy to find the solution and maintain the desired configuration, in this case using negative values of the equation (24), avoiding problems of changing configuration of the leg in a defined trajectory. Another advantage is that by not using an iterative method for its solution, analytical equations do not need high processing power.
VII. ACKNOWLEDGMENT
The authorsthankthegeneroussupportofthe “Pontifícia Universidade Católica de Minas Gerais– PUCMINAS”, the “Coordenação de Aperfeiçoamento de Pessoal de Nível Superior– CAPES,”the “Conselho Nacional de Desenvolvimento Científico e Tecnológico–CNPq,” andthe “Fundação de Amparo a Pesquisa de Minas Gerais–FAPEMIG”.
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