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.
Parameter study of stable walking gaits for nao humanoid roboteSAT Journals
Abstract It is a challenge to any researcher to maintain the stability of the robot while in the walking motion. This paper proposes for parameter study of a walking pattern method which is inspired by the Dip Goswami (2009). The walking pattern is generated based on three points. These points are located at ankle left and right and one at the hip of the NAO humanoid robot. By using these points the walking gaits are generated to use as a reference point while walking motion. Then, an inverse kinematics with geometric solution of a ten degree-of-freedom humanoid robot is formulated from hip until the ankle joint. By sampling period of time with ten this reference point is used to find the joint angle of each link. The NAO humanoid robot is built in with force resistive sensor (FSR) located under both feet are used to determine the walking stability by using force distributer concept. The zero moment point of the robot is calculated on the normalized value between FSR reading from right leg and left leg. The result shown based on the real time simulation environment by using Webots Robotic Software. A simulation result shows that a NAO humanoid robot successfully walks in stable condition by following five different walking parameter setting. The humanoid robot is stable if and only if the normalized value of the ZMP is between 1 and -1. Index Terms: Walking gaits, NAO humanoid robot, ZMP
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.
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.
Stabilization of Six-Legged Robot on Tilt Surface With 9 DOF IMU Based on Inv...IJRES Journal
Robot is a tool which is developed very fast. There are several types of robots, one of them is six-legged robot. One of the problems of this robot is when the robot walks on the tilt surface. This would result the movement of the robot could be late and the center of gravity is not balanced. In this research, stabilization of six-legged robot walking on tilt surface using nine degree of freedom (DOF) inertial measurement unit (IMU) sensor based on invers kinematic is designed. The IMU sensor comprises a gyroscope, a magnetometer, and three-axis accelerometer. This sensor works as the input of the tilt degree and heading of the robot, therefore they can be processed in fuzzy-pid controller to balance the body of the robot on tilt surface. The results show that the robot will move forward when the x-axis translation inverse changed from its original position, move aside when the y-axis translational modified and move up and down if the translation to the z-axis was changed. From the testing of IMU get the total of RMSE pitch is 1,73%, roll =1,67% and yaw = 1,24%. In controller fuzzy-pid get the good respon is on the value Kp have k1=0,5, k2=1 , k3 = 3 , Ki have k1=0,5 , k2=0,5, k3=0,5 and Kd have k1=0,25 , k2=0,35 dan k3=0,45.
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.
The document describes a new adaptive treadmill control strategy that allows the treadmill speed to be controlled by the user's intended walking speed. It analyzes the center of pressure formula and simulation results to identify the ratio of reaction forces yF and zF (denoted as ,y zR ) as a key index related to intended walking speed. An experiment is conducted where subjects walk on a treadmill while viewing a virtual reality shopping scene. Force plate data is used to model the relationship between ,y zR and treadmill velocity V, and least squares regression is used to calibrate the model. The results show the treadmill speed can be smoothly controlled to match the user's intended speed.
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.
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.
Parameter study of stable walking gaits for nao humanoid roboteSAT Journals
Abstract It is a challenge to any researcher to maintain the stability of the robot while in the walking motion. This paper proposes for parameter study of a walking pattern method which is inspired by the Dip Goswami (2009). The walking pattern is generated based on three points. These points are located at ankle left and right and one at the hip of the NAO humanoid robot. By using these points the walking gaits are generated to use as a reference point while walking motion. Then, an inverse kinematics with geometric solution of a ten degree-of-freedom humanoid robot is formulated from hip until the ankle joint. By sampling period of time with ten this reference point is used to find the joint angle of each link. The NAO humanoid robot is built in with force resistive sensor (FSR) located under both feet are used to determine the walking stability by using force distributer concept. The zero moment point of the robot is calculated on the normalized value between FSR reading from right leg and left leg. The result shown based on the real time simulation environment by using Webots Robotic Software. A simulation result shows that a NAO humanoid robot successfully walks in stable condition by following five different walking parameter setting. The humanoid robot is stable if and only if the normalized value of the ZMP is between 1 and -1. Index Terms: Walking gaits, NAO humanoid robot, ZMP
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.
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.
Stabilization of Six-Legged Robot on Tilt Surface With 9 DOF IMU Based on Inv...IJRES Journal
Robot is a tool which is developed very fast. There are several types of robots, one of them is six-legged robot. One of the problems of this robot is when the robot walks on the tilt surface. This would result the movement of the robot could be late and the center of gravity is not balanced. In this research, stabilization of six-legged robot walking on tilt surface using nine degree of freedom (DOF) inertial measurement unit (IMU) sensor based on invers kinematic is designed. The IMU sensor comprises a gyroscope, a magnetometer, and three-axis accelerometer. This sensor works as the input of the tilt degree and heading of the robot, therefore they can be processed in fuzzy-pid controller to balance the body of the robot on tilt surface. The results show that the robot will move forward when the x-axis translation inverse changed from its original position, move aside when the y-axis translational modified and move up and down if the translation to the z-axis was changed. From the testing of IMU get the total of RMSE pitch is 1,73%, roll =1,67% and yaw = 1,24%. In controller fuzzy-pid get the good respon is on the value Kp have k1=0,5, k2=1 , k3 = 3 , Ki have k1=0,5 , k2=0,5, k3=0,5 and Kd have k1=0,25 , k2=0,35 dan k3=0,45.
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.
The document describes a new adaptive treadmill control strategy that allows the treadmill speed to be controlled by the user's intended walking speed. It analyzes the center of pressure formula and simulation results to identify the ratio of reaction forces yF and zF (denoted as ,y zR ) as a key index related to intended walking speed. An experiment is conducted where subjects walk on a treadmill while viewing a virtual reality shopping scene. Force plate data is used to model the relationship between ,y zR and treadmill velocity V, and least squares regression is used to calibrate the model. The results show the treadmill speed can be smoothly controlled to match the user's intended speed.
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.
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.
Real-time Estimation of Human’s Intended Walking Speed for Treadmill-style Lo...toukaigi
This document discusses estimating a human's intended walking speed using force plates under a treadmill. It first introduces the problem and experimental setup using two force plates under a treadmill. It then describes Experiment 1 which found that a proposed force index, defined as the minimum value of the ratio of forward ground reaction force to total ground reaction force during one gait cycle, has a strong linear correlation with intended walking speed. Experiment 2 showed the coefficients of this linear relationship vary little, ensuring tolerance of individual variations. Finally, a treadmill-style locomotion interface is presented that allows a user to actively control the treadmill speed with their feet based on intended walking speed estimation, providing a promising human-machine interface.
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
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 summarizes the kinematics analysis of a 3-UPU (universal-prismatic-universal) parallel robot. Each of the robot's three legs consists of two universal joints connected by a prismatic joint. The document establishes recursive matrix relations for solving the inverse kinematics problem given the position of the mobile platform. Simulation graphs are generated for the input displacements, velocities, and accelerations. The kinematics analysis determines the nine independent variables that define the robot's configuration based on vector-loop equations relating the joint parameters and platform position.
COMPARISON OF RESPONSE TO UNBALANCE OF OVERHUNG ROTOR SYSTEM FOR DIFFERENT SU...IAEME Publication
Rotor unbalance is most common fault found in the rotating machines. Methods
are adopted to analyze the position of unbalance and to bring its effect into acceptablelimit. Vibration analysis is the most common technique used to analyze the rotor
system. Research have been performed on rotor supported atboth ends, however lessstudy has been done for overhung rotor. In this paper the response of overhung rotoron isotropic support and anisotropic support subject tounbalance has been presented.and equations aresolved using MATLAB programming. The effect of unbalancehas been studied on thebode plot. Forward and Reverse whirl are observed through Campbell diagram andmode shapes are plotted.
Human Factor Affects Eye Movement Pattern During Riding Motorcycle on the Mou...toukaigi
This document analyzes eye movement patterns during motorcycle riding on mountains using an eye tracking system. The system recorded eye movements and front views of subjects riding on a mountain route. Analysis found that human factors like traffic, vehicles, and roadside objects influenced fixation points and eye tracking. Specifically, subjects' eyes tracked opposite lane vehicles more when climbing than descending, and fixated mainly at traffic signals, stopped vehicles, close objects, roadside buildings, and vehicles in front. The study aims to understand how human factors impact eye movements during motorcycle riding.
Modeling and Control of a Humanoid Robot Arm with Redundant Biarticular Muscl...toukaigi
This document describes research on modeling and controlling a humanoid robot arm actuated by biarticular muscles. Key points:
- A two-link robot arm model is developed based on the parameters of a human arm, with six muscles added as actuators, including two biarticular muscles.
- An adaptive control scheme is proposed to control the robot arm by distributing computed torque commands to the muscle forces. The scheme can tolerate modeling errors through online parameter adaptation.
- The control and adaptation methods were verified in a simulation of the arm performing bend-stretch movements. The adaptation scheme successfully identified changing arm parameters to compensate for them in real-time.
This document presents a mathematical model and analysis of the vibration response characteristics of a half car model subjected to different sinusoidal road excitations. The half car model is modeled as a two degree of freedom system, considering bounce and pitch motions. Lagrange's equations are used to derive the governing equations of motion. The natural frequencies of the system are calculated. MATLAB is used to simulate the dynamic response of the vehicle for different road bump amplitudes and vehicle velocities. The results show that vibration amplitude increases with bump amplitude and velocity up to a point, after which amplitude decreases with further increases in velocity.
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.
The effect of rotor disc clearance on the lift performance of contra rotating...eSAT Publishing House
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
Optimal Control for Torpedo Motion based on Fuzzy-PSO Advantage TechnicalTELKOMNIKA JOURNAL
The torpedo is a nonlinear object which is very difficult to control. Via to manage the rudder angle yaw, the diving plane angle, and the fin shake reduction, the torpedo yaw horizontal, the depth vertical and roll damping of the system are controlled accurately and steadily. In this paper, the particle swarm optimization is used to correct the imprecision of architecture fuzzy parameters. The coverage width of membership function and the overlap degree influence of neighboring membership functions are considered in the method to adjust dynamically from the system errors. Thereby optimizing the control signal and enhancing the torpedo motion quality. The proposed method results in a better performance compared to the other control method such as adaptive fuzzy-neural that proved effective of the proposed controller.
The International Journal of Engineering and Science (The IJES)theijes
The International Journal of Engineering & Science is aimed at providing a platform for researchers, engineers, scientists, or educators to publish their original research results, to exchange new ideas, to disseminate information in innovative designs, engineering experiences and technological skills. It is also the Journal's objective to promote engineering and technology education. All papers submitted to the Journal will be blind peer-reviewed. Only original articles will be published.
Design and analysis of x y- positioning stage based on redundant parallel li...eSAT Journals
Abstract This paper presents the concept of a planar positioning stage based on a kinematically redundant parallel linkage. Basic kinematics and workspace analysis of base redundant manipulator is initially explained and the procedure of static analysis to predict the actuated joint torques is described. As there are six actuators in the linkage, the redundancy can be overcome by proper selection of the base joint variables. Also it is assumed that the motion is at a constant speed. A numerical example is shown with a straight line trajectory to illustrate the workspace and joint force calculation aspects of this linkage. The possible arrangement of the stage with electrostatic actuation and sensing are finally highlighted. Keywords: Kinematic redundancy, Parallel mechanism, Static analysis, and Workspace characteristics
This document describes the design and analysis of a planar positioning stage based on a redundantly actuated parallel linkage. The positioning stage has three degrees of freedom (x-y-θ) and uses a 3-PRPR linkage with six actuators. The document analyzes the kinematics and workspace of the linkage. It describes the procedure for static analysis to calculate the actuated joint torques. The positioning stage could enable high-precision motion with a compact design and improved stiffness compared to serial linkages. It is proposed for potential use in micro-scale applications.
This document summarizes a new type of three-axial MEMS gyroscope that uses frequency modulation (FM) as its working principle. It begins by describing the dynamics of MEMS gyroscopes, including equations of motion for both an ideal point mass gyroscope and a real distributed mass gyroscope. It then introduces the FM working principle and how it offers improved stability compared to existing amplitude modulated gyroscopes. The document proposes the mechanical design of the first three-axial FM gyroscope, which overcomes limitations of typical fabrication processes. Preliminary experimental tests on a prototype validate the model and simulation results used in the design process.
Kinematics of lower limb segments during cycling sessionAlexander Decker
This document presents the kinematics analysis of lower limb segments during cycling. It derives the position, velocity, and acceleration equations for the thigh, shank, and foot segments by modeling the leg-bicycle system as a five-bar linkage mechanism. Graphs of the thigh, shank, and foot segment positions are plotted against crank angle. The derived kinematic equations and profiles were found to be reasonable and in agreement with experimental data.
This document summarizes an experimental study on load sharing analysis of a planetary gear box. Strain gauges were mounted on the planet pins to measure the load carried by each planet. Testing was done with different input torques both with and without intentional errors introduced to one planet pin. Results showed the actual load sharing varied from the theoretical even load sharing due to manufacturing errors. Load carried by each planet was calculated from the pin stresses measured by strain gauges and FEM analysis. With a 100um error introduced, load on the error planet increased while loads on other planets decreased compared to the no error condition. Experimental and FEM pin stress results closely matched the theoretical values.
Car Dynamics using Quarter Model and Passive Suspension, Part VI: Sprung-mass...IOSR Journals
1) The document investigates the step response of a 2 DOF quarter-car model with passive suspension using MATLAB.
2) It derives the mathematical models for the sprung-mass displacement and acceleration in response to a 100mm step road disturbance.
3) The simulations show that increasing the suspension damping coefficient decreases the overshoot and settling time of the sprung-mass displacement response, but increases the maximum acceleration. Suspension stiffness has little effect on the maximum acceleration.
This document describes the design and development of embedded application software for an Interface Processing Unit (IPU) subsystem. The IPU subsystem interfaces various onboard systems like radars, gyroscopes, and GPS with an electronic support measure (ESM) system. It consists of two modules: a Gyro Interface Module (GIM) and a Blanking Interface Module (BIM). The GIM corrects gyroscope data and outputs it. The BIM generates blanking cover pulses from radar pre-trigger pulses to protect receivers during radar transmission. Both modules were designed, simulated, and integrated using VHDL on a Virtex-4 FPGA platform. The integrated system was able to correctly process gyroscope and radar inputs and generate the
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
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
Influence of alkaline substances (carbonates and bicarbonates of sodium) in w...eSAT Publishing House
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.
Real-time Estimation of Human’s Intended Walking Speed for Treadmill-style Lo...toukaigi
This document discusses estimating a human's intended walking speed using force plates under a treadmill. It first introduces the problem and experimental setup using two force plates under a treadmill. It then describes Experiment 1 which found that a proposed force index, defined as the minimum value of the ratio of forward ground reaction force to total ground reaction force during one gait cycle, has a strong linear correlation with intended walking speed. Experiment 2 showed the coefficients of this linear relationship vary little, ensuring tolerance of individual variations. Finally, a treadmill-style locomotion interface is presented that allows a user to actively control the treadmill speed with their feet based on intended walking speed estimation, providing a promising human-machine interface.
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
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 summarizes the kinematics analysis of a 3-UPU (universal-prismatic-universal) parallel robot. Each of the robot's three legs consists of two universal joints connected by a prismatic joint. The document establishes recursive matrix relations for solving the inverse kinematics problem given the position of the mobile platform. Simulation graphs are generated for the input displacements, velocities, and accelerations. The kinematics analysis determines the nine independent variables that define the robot's configuration based on vector-loop equations relating the joint parameters and platform position.
COMPARISON OF RESPONSE TO UNBALANCE OF OVERHUNG ROTOR SYSTEM FOR DIFFERENT SU...IAEME Publication
Rotor unbalance is most common fault found in the rotating machines. Methods
are adopted to analyze the position of unbalance and to bring its effect into acceptablelimit. Vibration analysis is the most common technique used to analyze the rotor
system. Research have been performed on rotor supported atboth ends, however lessstudy has been done for overhung rotor. In this paper the response of overhung rotoron isotropic support and anisotropic support subject tounbalance has been presented.and equations aresolved using MATLAB programming. The effect of unbalancehas been studied on thebode plot. Forward and Reverse whirl are observed through Campbell diagram andmode shapes are plotted.
Human Factor Affects Eye Movement Pattern During Riding Motorcycle on the Mou...toukaigi
This document analyzes eye movement patterns during motorcycle riding on mountains using an eye tracking system. The system recorded eye movements and front views of subjects riding on a mountain route. Analysis found that human factors like traffic, vehicles, and roadside objects influenced fixation points and eye tracking. Specifically, subjects' eyes tracked opposite lane vehicles more when climbing than descending, and fixated mainly at traffic signals, stopped vehicles, close objects, roadside buildings, and vehicles in front. The study aims to understand how human factors impact eye movements during motorcycle riding.
Modeling and Control of a Humanoid Robot Arm with Redundant Biarticular Muscl...toukaigi
This document describes research on modeling and controlling a humanoid robot arm actuated by biarticular muscles. Key points:
- A two-link robot arm model is developed based on the parameters of a human arm, with six muscles added as actuators, including two biarticular muscles.
- An adaptive control scheme is proposed to control the robot arm by distributing computed torque commands to the muscle forces. The scheme can tolerate modeling errors through online parameter adaptation.
- The control and adaptation methods were verified in a simulation of the arm performing bend-stretch movements. The adaptation scheme successfully identified changing arm parameters to compensate for them in real-time.
This document presents a mathematical model and analysis of the vibration response characteristics of a half car model subjected to different sinusoidal road excitations. The half car model is modeled as a two degree of freedom system, considering bounce and pitch motions. Lagrange's equations are used to derive the governing equations of motion. The natural frequencies of the system are calculated. MATLAB is used to simulate the dynamic response of the vehicle for different road bump amplitudes and vehicle velocities. The results show that vibration amplitude increases with bump amplitude and velocity up to a point, after which amplitude decreases with further increases in velocity.
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.
The effect of rotor disc clearance on the lift performance of contra rotating...eSAT Publishing House
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
Optimal Control for Torpedo Motion based on Fuzzy-PSO Advantage TechnicalTELKOMNIKA JOURNAL
The torpedo is a nonlinear object which is very difficult to control. Via to manage the rudder angle yaw, the diving plane angle, and the fin shake reduction, the torpedo yaw horizontal, the depth vertical and roll damping of the system are controlled accurately and steadily. In this paper, the particle swarm optimization is used to correct the imprecision of architecture fuzzy parameters. The coverage width of membership function and the overlap degree influence of neighboring membership functions are considered in the method to adjust dynamically from the system errors. Thereby optimizing the control signal and enhancing the torpedo motion quality. The proposed method results in a better performance compared to the other control method such as adaptive fuzzy-neural that proved effective of the proposed controller.
The International Journal of Engineering and Science (The IJES)theijes
The International Journal of Engineering & Science is aimed at providing a platform for researchers, engineers, scientists, or educators to publish their original research results, to exchange new ideas, to disseminate information in innovative designs, engineering experiences and technological skills. It is also the Journal's objective to promote engineering and technology education. All papers submitted to the Journal will be blind peer-reviewed. Only original articles will be published.
Design and analysis of x y- positioning stage based on redundant parallel li...eSAT Journals
Abstract This paper presents the concept of a planar positioning stage based on a kinematically redundant parallel linkage. Basic kinematics and workspace analysis of base redundant manipulator is initially explained and the procedure of static analysis to predict the actuated joint torques is described. As there are six actuators in the linkage, the redundancy can be overcome by proper selection of the base joint variables. Also it is assumed that the motion is at a constant speed. A numerical example is shown with a straight line trajectory to illustrate the workspace and joint force calculation aspects of this linkage. The possible arrangement of the stage with electrostatic actuation and sensing are finally highlighted. Keywords: Kinematic redundancy, Parallel mechanism, Static analysis, and Workspace characteristics
This document describes the design and analysis of a planar positioning stage based on a redundantly actuated parallel linkage. The positioning stage has three degrees of freedom (x-y-θ) and uses a 3-PRPR linkage with six actuators. The document analyzes the kinematics and workspace of the linkage. It describes the procedure for static analysis to calculate the actuated joint torques. The positioning stage could enable high-precision motion with a compact design and improved stiffness compared to serial linkages. It is proposed for potential use in micro-scale applications.
This document summarizes a new type of three-axial MEMS gyroscope that uses frequency modulation (FM) as its working principle. It begins by describing the dynamics of MEMS gyroscopes, including equations of motion for both an ideal point mass gyroscope and a real distributed mass gyroscope. It then introduces the FM working principle and how it offers improved stability compared to existing amplitude modulated gyroscopes. The document proposes the mechanical design of the first three-axial FM gyroscope, which overcomes limitations of typical fabrication processes. Preliminary experimental tests on a prototype validate the model and simulation results used in the design process.
Kinematics of lower limb segments during cycling sessionAlexander Decker
This document presents the kinematics analysis of lower limb segments during cycling. It derives the position, velocity, and acceleration equations for the thigh, shank, and foot segments by modeling the leg-bicycle system as a five-bar linkage mechanism. Graphs of the thigh, shank, and foot segment positions are plotted against crank angle. The derived kinematic equations and profiles were found to be reasonable and in agreement with experimental data.
This document summarizes an experimental study on load sharing analysis of a planetary gear box. Strain gauges were mounted on the planet pins to measure the load carried by each planet. Testing was done with different input torques both with and without intentional errors introduced to one planet pin. Results showed the actual load sharing varied from the theoretical even load sharing due to manufacturing errors. Load carried by each planet was calculated from the pin stresses measured by strain gauges and FEM analysis. With a 100um error introduced, load on the error planet increased while loads on other planets decreased compared to the no error condition. Experimental and FEM pin stress results closely matched the theoretical values.
Car Dynamics using Quarter Model and Passive Suspension, Part VI: Sprung-mass...IOSR Journals
1) The document investigates the step response of a 2 DOF quarter-car model with passive suspension using MATLAB.
2) It derives the mathematical models for the sprung-mass displacement and acceleration in response to a 100mm step road disturbance.
3) The simulations show that increasing the suspension damping coefficient decreases the overshoot and settling time of the sprung-mass displacement response, but increases the maximum acceleration. Suspension stiffness has little effect on the maximum acceleration.
This document describes the design and development of embedded application software for an Interface Processing Unit (IPU) subsystem. The IPU subsystem interfaces various onboard systems like radars, gyroscopes, and GPS with an electronic support measure (ESM) system. It consists of two modules: a Gyro Interface Module (GIM) and a Blanking Interface Module (BIM). The GIM corrects gyroscope data and outputs it. The BIM generates blanking cover pulses from radar pre-trigger pulses to protect receivers during radar transmission. Both modules were designed, simulated, and integrated using VHDL on a Virtex-4 FPGA platform. The integrated system was able to correctly process gyroscope and radar inputs and generate the
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
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
Influence of alkaline substances (carbonates and bicarbonates of sodium) in w...eSAT Publishing House
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.
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
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.
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 summarizes a study on evaluating the performance of intake tower dams in India during recent earthquakes. Intake towers are tall, hollow reinforced concrete structures that form the entrance to reservoir outlet works. The study aims to understand how parameters like depth of submergence, wall thickness, and slenderness ratio affect the dynamic behavior of intake towers during earthquakes. A simplified circular cylindrical tower model was analyzed in SAP2000 considering hydrodynamic added mass from surrounding and inside water. Dynamic analyses including modal and time history analyses were performed for different soil conditions and earthquakes in India from 2005-2013. The results show the effect of these parameters and soil conditions on the displacement and acceleration response of the intake towers.
The compensatation of unbalanced 3 phase currents in transmission systems on ...eSAT Publishing House
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.
Evaluation the affects of mimo based rayleigh network cascaded with unstable ...eSAT Publishing House
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
Performance analysis of cmos comparator and cntfet comparator designeSAT Publishing House
This document summarizes a study comparing the performance of CNTFET and CMOS comparator designs. CNTFET comparators were simulated using CADENCE showing faster propagation delays, lower power consumption, and improved transient response compared to CMOS comparators. Specifically, the CNTFET comparator had a rise time of 142.1ns versus 1.03ns for CMOS, and fall time of 164.18ns versus 821.476ns for CMOS. Average power was also lower at 118mW for CNTFET versus 910mW for CMOS. Due to these advantages, CNTFETs may replace silicon transistors as the performance of silicon MOSFETs reaches scaling limitations.
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
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.
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.
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.
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
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
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
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
Growth and physical properties of pure and manganese doped strontium tartrate...eSAT Publishing House
This document summarizes the growth and characterization of pure and manganese-doped strontium tartrate trihydrate single crystals. Strontium tartrate crystals were grown using the single diffusion gel growth technique. Crystals of sizes up to 10x5x3 mm3 were obtained. The crystals were characterized through techniques such as PXRD, SXRD, FTIR, UV-Vis-NIR, PL, SHG, microhardness, and TGA measurements. Manganese doping was found to increase the PL yield, SHG efficiency, and microhardness of the crystals compared to pure strontium tartrate. The crystals were determined to be monoclinic with optical transparency and suitable for nonlinear
Trajectory reconstruction for robot programming by demonstration IJECEIAES
The reproduction of hand movements by a robot remains difficult and conventional learning methods do not allow us to faithfully recreate these movements because it is very difficult when the number of crossing points is very large. Programming by Demonstration gives a better opportunity for solving this problem by tracking the user’s movements with a motion capture system and creating a robotic program to reproduce the performed tasks. This paper presents a Programming by Demonstration system in a trajectory level for the reproduction of hand/tool movement by a manipulator robot; this was realized by tracking the user’s movement with the ArToolkit and reconstructing the trajectories by using the constrained cubic spline. The results obtained with the constrained cubic spline were compared with cubic spline interpolation. Finally the obtained trajectories have been simulated in a virtual environment on the Puma 600 robot.
Center of Pressure Feedback for Controlling the Walking Stability Bipedal Rob...UniversitasGadjahMada
This paper presents a sensor-based stability walk for bipedal robots by using force sensitive resistor (FSR) sensor. To perform walk stability on uneven terrain conditions, FSR sensor is used as feedbacks to evaluate the stability of bipedal robot instead of the center of pressure (CoP). In this work, CoP that was generated from four FSR sensors placed on each foot-pad is used to evaluate the walking stability. The robot CoP position provided an indication of walk stability. The CoP position information was further evaluated with a fuzzy logic controller (FLC) to generate appropriate offset angles to be applied to meet a stable situation. Moreover, in this paper designed a FLC through CoP region's stability and stable compliance control are introduced. Finally, the performances of the proposed methods were verified with 18-degrees of freedom (DOF) kid-size bipedal robot.
Center of Pressure Feedback for Controlling the Walking Stability Bipedal Rob...IJECEIAES
This paper presents a sensor-based stability walk for bipedal robots by using force sensitive resistor (FSR) sensor. To perform walk stability on uneven terrain conditions, FSR sensor is used as feedbacks to evaluate the stability of bipedal robot instead of the center of pressure (CoP). In this work, CoP that was generated from four FSR sensors placed on each foot-pad is used to evaluate the walking stability. The robot CoP position provided an indication of walk stability. The CoP position information was further evaluated with a fuzzy logic controller (FLC) to generate appropriate offset angles to be applied to meet a stable situation. Moreover, in this paper designed a FLC through CoP region's stability and stable compliance control are introduced. Finally, the performances of the proposed methods were verified with 18-degrees of freedom (DOF) kid-size bipedal robot.
Abstract Robots are expected to be new tools for the operations and observations in the extreme environments where humans have difficulties in direct access. One of the important matters to realize mobile robots for extreme environments is to establish systems in their structures which are strong enough to disturbances. Also, while considering surveillance in inaccessible remote areas, a need arises for the presence of a robot capable of intruding into small crevices as well as provides proper surveillance. This work aims at the implementation of a snake robot for surveillance operations in remote areas. A biologically inspired robot with various motion patterns is taken into consideration. An important problem in the control of locomotion of robots with multiple degrees of freedom is in adapting the locomotors patterns to the properties of the environment. This has been overcome by using control techniques capable of integrating the motion patterns of a snake. Here an attempt is taken to focus on the creeping locomotion of a living snake. In hybrid model, the optimal locomotion of the snake robot is tried to achieve by comparing it with that of a living snake. A wireless real time vision processing is also employed within the robot to improve its performance. The presence of Video acquisition along with processing will be an added advantage for implementation of the robot for highly precise and difficult surveillance applications. Real time processing of video enables proper and efficient control towards obstacle avoidance pattern of the robot. This ensures that the locomotion of the robot is in a bio-inspired highly efficient path towards the target. Keywords: Collision-free behavior, neural oscillator, snake locomotion, steering, real time vision processing
Robust Control of a Spherical Mobile RobotIRJET Journal
This document summarizes a research paper about controlling a spherical mobile robot using sliding mode control. It begins with an abstract that describes the challenges of controlling spherical robots due to their underactuated systems. It then provides background on previous control methods for spherical robots. The document presents the kinematic model of a 2-DOF spherical robot and describes how sliding mode control can be used to provide robust control and path following for the robot. It provides the equations for the sliding mode controller design. Finally, it presents simulation results showing the robot following a desired trajectory with minimal tracking error using the sliding mode controller.
DEVELOPEMENT OF GAIT GENERATION SYSTEM FOR A LOWER LIMB PROSTHESIS USING MEAS...JaresJournal
The document describes the development of a gait generation system for a lower limb prosthesis using measured ground reaction forces. An adaptive fuzzy controller was designed using experimental kinematic data from healthy limbs and ground reaction force measurements from force platforms. The controller determines the appropriate torques needed to actuate a dynamic model of an active ankle-knee prosthesis during walking, stair ascent, and stair descent cycles based on fuzzy logic rules. The capacity of the prosthesis model and controller to replicate these gaits was tested by comparing the results to kinematics of an unimpaired subject.
DEVELOPEMENT OF GAIT GENERATION SYSTEM FOR A LOWER LIMB PROSTHESIS USING MEAS...JaresJournal
Lower limb dynamic models are useful to investigate the biomechanics of the knee and ankle joints, but
many systems have several limitations which includes simplified forces, non physiologic kinematics and the
complicated interactions between the foot and the ground. Many approaches in control of prosthetic
devices use prediction algorithms to estimate ground reaction forces (GRF), which can degrade the
performance and the efficiency of the devices due to calculation errors. In this study, the variation of the
GRF during different gait cycles was investigated in the design of an adaptive fuzzy controller for a
dynamic model of an active ankle-knee prosthesis, the efficiency of the controller was tested for walking
gait, stair ascent and descent. Real experimental kinematics of the lower limb and GRF measured by forces
platforms were selected as the controller inputs and fuzzy reasoning was used to determine the adequate
torques to actuate the prosthetic device model. The capacity of the active prosthesis and the designed
controller to provide walking, stair ascent and descent cycles was tested by comparing the gait kinematics
to those provided by a healthy subject
DEVELOPEMENT OF GAIT GENERATION SYSTEM FOR A LOWER LIMB PROSTHESIS USING MEAS...JaresJournal
Lower limb dynamic models are useful to investigate the biomechanics of the knee and ankle joints, but
many systems have several limitations which includes simplified forces, non physiologic kinematics and the
complicated interactions between the foot and the ground. Many approaches in control of prosthetic
devices use prediction algorithms to estimate ground reaction forces (GRF), which can degrade the
performance and the efficiency of the devices due to calculation errors. In this study, the variation of the
GRF during different gait cycles was investigated in the design of an adaptive fuzzy controller for a
dynamic model of an active ankle-knee prosthesis, the efficiency of the controller was tested for walking
gait, stair ascent and descent. Real experimental kinematics of the lower limb and GRF measured by forces
platforms were selected as the controller inputs and fuzzy reasoning was used to determine the adequate
torques to actuate the prosthetic device model. The capacity of the active prosthesis and the designed
controller to provide walking, stair ascent and descent cycles was tested by comparing the gait kinematics
to those provided by a healthy subject.
The document presents a path tracking controller for a quadruped robot to avoid obstacles. First, a ceiling-mounted camera system is used to recognize obstacles and goals. Second, a path planning algorithm using potential functions is proposed to generate obstacle-avoiding paths. Third, the kinematic model of a quadruped robot is presented. Fourth, a backstepping tracking controller is designed using Lyapunov stability to make the robot follow the planned path. Simulation results show the effectiveness of the proposed path planning and tracking controller.
Determination of the Operational Parameters of a Planar Robot with Three JointsWaqas Tariq
Robots are currently made in numerous types and are used in diverse roles such as production lines, daily living activities and some security fields. These types of robots are well designed and successfully applied in many areas requiring high sensitivity and stability. The aim of this study was to determine the optimum values of several operational parameters for a planar robot with respect to robot design and construction. With this aim, a small planar robot with a three-jointed arm activated by hydraulic cylinders in each segment was evaluated using a technical design drawing. The arm motions of the planar robot are rotary and parallel within a vertical plane. The resulting optimal operational parameters of the planar robot were determined as starting and target positions of 31.5 cm and 55 cm, respectively, on the x-axis and 17.18 cm and 118.44 cm on the y–axis. Time-position and time-velocity graphs were constructed corresponding to the orbit-planning parameters, resulting in Cartesian velocities for the terminal processor of 13.98 m/sec on the x-axis and 20.16 m/sec on the y-axis at 1.5 seconds after initiation. The maximum power consumption of the robot was determined as 1 kW according to the outer load and arm weights.
Effect of Discrete Yaw Direction Setting for 4 Roter Helicopter Control: Comp...AM Publications
In this paper, the effectiveness of discrete yaw direction setting in 4 rotor helicopter control was evaluated by simple computer simulation and Parrot AR. Drone 4 rotor helicopter in horizontal plane automatic position fixing control. For 4 rotor system, it is necessary to control the attitude of the drone and the position in the space simultaneously in order to realize stable flight of the system. The attitude control can be realized by the internal acc / gyro sensors with high sampling rate (near 1 kHz), on the contrary, the position control in the outdoor situation is necessary to realize by the external 3D position measurement method with relatively low sampling rate techniques (lower than 100 Hz) such as GPS. The low sampling rate reduces the positional control stability, and it is causing the control problem such applications of inspection work at high height and long distance. Our attempt is to evaluate the effect of adding discrete yaw direction setting while normal 4 rotor helicopter roll and pitch control in horizontal plane movement by a simple computer simulation and model implementation. By adding the discrete yaw direction setting to the target direction, the fixed position movement control performance of the 4 rotor system could increase comparing with without the yaw direction setting of the 4 rotor system. The proposed method would be useful to improve the 4 rotor system control performance under the relatively low sampling rate positional information acquired situation.
The active suspension system with hydraulic actuator for half car model analy...eSAT Publishing House
This document describes the design and simulation of an active suspension system with a hydraulic actuator for a half car model. A PID controller is designed and tuned using three different methods - heuristic tuning, Ziegler-Nichols tuning, and iterative learning algorithm tuning. The half car model and hydraulic actuator are modeled and simulated in MATLAB Simulink. Simulation results show that the PID controller tuned with the iterative learning algorithm provides the best ride quality performance compared to the other tuning methods or a passive suspension, reducing the body displacement under various road disturbances.
Research on The Control of Joint Robot TrajectoryIJRESJOURNAL
ABSTRACT: This paper relates to a Robot that belongs to the category of Joint Robot.In the article,we analyze the path planning and control system of the robot,specifically speaking,it involves the interpolation of the robot trajectory, the analysis of the inverse kinematics, the introduction of the method to reduce the trajectory error, the optimization of the trajectory and in the end, the corresponding control system is designed according to the relevant parameters. This research project first introduces the importance of the robot, and then analyzes the whole process of the robot from the grasping pin, the screw to they are delivered to the designated position,finally, the process is introduced in detail, and the simulation result is displayed.
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.
A NOVEL NAVIGATION STRATEGY FOR AN UNICYCLE MOBILE ROBOT INSPIRED FROM THE DU...JaresJournal
This paper deals with the design and the implementation of a novel navigation strategy for an unicycle
mobile robot. The strategy of navigation is inspired from nature (the duck walking) in the closed loop.
Therefore, a single sensor (gyroscope) is used to determine the pose of the robot, hence the proposed name
"gyroscopic navigation". A global presentation of the novel strategy and the robot and with its different
components are given. An experimental identification for the useful parameters are then exhibited.
Moreover, the controller design strategy and the simulation results are given. Finally, real time
experiments are accomplished to valid the simulation results.
Hexacopter using MATLAB Simulink and MPU SensingIRJET Journal
This document describes the modeling and control of a hexacopter unmanned aerial vehicle using MATLAB simulation. It presents the mathematical modeling of the hexacopter dynamics using Newton-Euler angles and reference frames. PID controllers are developed for altitude, roll, pitch and yaw control. The rotor speeds required for thrust and attitude control are calculated from the PID outputs. Simulation parameters are provided and the results obtained from implementing the PID controllers on the hexacopter model in MATLAB are presented.
Adaptive Neuro-Fuzzy Control Approach for a Single Inverted Pendulum System IJECEIAES
The inverted pendulum is an under-actuated and nonlinear system, which is also unstable. It is a single-input double-output system, where only one output is directly actuated. This paper investigates a single intelligent control system using an adaptive neuro-fuzzy inference system (ANFIS) to stabilize the inverted pendulum system while tracking the desired position. The nonlinear inverted pendulum system was modelled and built using MATLAB Simulink. An adaptive neuro-fuzzy logic controller was implemented and its performance was compared with a Sugeno-fuzzy inference system in both simulation and real experiment. The ANFIS controller could reach its desired new destination in 1.5 s and could stabilize the entire system in 2.2 s in the simulation, while in the experiment it took 1.7 s to reach stability. Results from the simulation and experiment showed that ANFIS had better performance compared to the Sugeno-fuzzy controller as it provided faster and smoother response and much less steady-state error.
Optimal FOPI-FOPD controller design for rotary inverted pendulum system using...TELKOMNIKA JOURNAL
The rotary inverted pendulum (RIP) has been used in various control application areas. This system can be represented as two degree of freedom (2-DOF), consisting of a rotating arm and rotating pendulum rod. RIP is an excellent example of designing a single-input multi-output (SIMO) system. Due to unstable RIP system dynamics, and its nonlinear model, multiple control techniques have been used to control this system. This paper uses integer and fractional order proportional integral-proportional derivative (PI-PD) controllers to stabilize the pendulum in the vertical direction. Constrained optimization approaches, such as the grey wolf optimization (GWO) methodology, are utilized to estimate the parametric values of the controllers. The simulation results showed that the fractional order PI-PD controller outperforms the integer order PI-PD controller with and without disturbance signal existence. A multiple results comparison has illustrated the superiority of fractional order controller over a previous work.
A Design Of Omni-Directional Mobile Robot Based On Mecanum WheelsIJRESJOURNAL
ABSTRACT:As one of the important branch of mobile robotics, wheel mobile robot has long been paid atten tion to by the research people at home and abroad for its high load ability, positioning accuracy, high efficiency, simple control, etc. Mobile robot has close relation to many technologies suc-h as control theory, computer tech nology, sensor technology, etc. Therefore, research on the mobile robot has important significance
Similar to Parameter study of stable walking gaits for nao (20)
Hudhud cyclone caused extensive damage in Visakhapatnam, India in October 2014, especially to tree cover. This will likely impact the local environment in several ways: increased air pollution as trees absorb less; higher temperatures without tree canopy; increased erosion and landslides. It also created large amounts of waste from destroyed trees. Proper management of solid waste is needed to prevent disease spread. Suggested measures include restoring damaged plants, building fountains to reduce heat, mandating light-colored buildings, improving waste management, and educating public on health risks. Overall, changes are needed to water, land, and waste practices to rebuild the environment after the cyclone removed green cover.
Impact of flood disaster in a drought prone area – case study of alampur vill...eSAT Publishing House
1) In September-October 2009, unprecedented heavy rainfall and dam releases caused widespread flooding in Alampur village in Mahabub Nagar district, a historically drought-prone area.
2) The flood damaged or destroyed homes, buildings, infrastructure, crops, and documents. It displaced many residents and cut off the village.
3) The socioeconomic conditions and mud-based construction of homes in the village exacerbated the flood's impacts, making damage more severe and recovery more difficult.
The document summarizes the Hudhud cyclone that struck Visakhapatnam, India in October 2014. It describes the cyclone's formation, rapid intensification to winds of 175 km/h, and landfall near Visakhapatnam. The cyclone caused extensive damage estimated at over $1 billion and at least 109 deaths in India and Nepal. Infrastructure like buildings, bridges, and power lines were destroyed. Crops and fishing boats were also damaged. The document then discusses coping strategies and improvements needed to disaster management plans to better prepare for future cyclones.
Groundwater investigation using geophysical methods a case study of pydibhim...eSAT Publishing House
This document summarizes the results of a geophysical investigation using vertical electrical sounding (VES) methods at 13 locations around an industrial area in India. The VES data was interpreted to generate geo-electric sections and pseudo-sections showing subsurface resistivity variations. Three main layers were typically identified - a high resistivity topsoil, a weathered middle layer, and a basement rock. Pseudo-sections revealed relatively more weathered areas in the northwest and southwest. Resistivity sections helped identify zones of possible high groundwater potential based on low resistivity anomalies sandwiched between more resistive layers. The study concluded the electrical resistivity method was useful for understanding subsurface geology and identifying areas prospective for groundwater exploration.
Flood related disasters concerned to urban flooding in bangalore, indiaeSAT Publishing House
1. The document discusses urban flooding in Bangalore, India. It describes how factors like heavy rainfall, population growth, and improper land use have contributed to increased flooding in the city.
2. Flooding events in 2013 are analyzed in detail. A November rainfall caused runoff six times higher than the drainage capacity, inundating low-lying residential areas.
3. Impacts of urban flooding include disrupted daily life, damaged infrastructure, and decreased economic activity in affected areas. The document calls for improved flood management strategies to better mitigate urban flooding risks in Bangalore.
Enhancing post disaster recovery by optimal infrastructure capacity buildingeSAT Publishing House
This document discusses enhancing post-disaster recovery through optimal infrastructure capacity building. It presents a model to minimize the cost of meeting demand using auxiliary capacities when disaster damages infrastructure. The model uses genetic algorithms to select optimal capacity combinations. The document reviews how infrastructure provides vital services supporting recovery activities and discusses classifying infrastructure into six types. When disaster reduces infrastructure services, a gap forms between community demands and available support, hindering recovery. The proposed research aims to identify this gap and optimize capacity selection to fill it cost-effectively.
Effect of lintel and lintel band on the global performance of reinforced conc...eSAT Publishing House
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#Abstract:
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- Gain actionable insights into AWS IAM policies and roles, using hands on approach.
#Prerequisites:
- Basic understanding of AWS services and architecture
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Data Control Language.pptx Data Control Language.pptx
Parameter study of stable walking gaits for nao
1. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
__________________________________________________________________________________________
Volume: 02 Issue: 08 | Aug-2013, Available @ http://www.ijret.org 16
PARAMETER STUDY OF STABLE WALKING GAITS FOR NAO
HUMANOID ROBOT
N. Latif A. Shaari1
, Muhammad Razmi Bin Razali 2
, M. F. Miskon3
, Ida S.Md Isa4
1
Mechatronic Department, Universiti Teknikal Malaysia Melaka, Melaka, Malaysia, latifazyze@utem.edu.my
2
Universiti Teknikal Malaysia Melaka, Melaka, Malaysia, amie_joecole@yahoo.com
3
Mechatronic Department, Universiti Teknikal Malaysia Melaka, Melaka, Malaysia, fahmimiskon@utem.edu.my
4
Telecomunication Department, Universiti Teknikal Malaysia Melaka, Melaka, Malaysia, idasyafiza@utem.edu.my
Abstract
It is a challenge to any researcher to maintain the stability of the robot while in the walking motion. This paper proposes for
parameter study of a walking pattern method which is inspired by the Dip Goswami (2009). The walking pattern is generated based
on three points. These points are located at ankle left and right and one at the hip of the NAO humanoid robot. By using these points
the walking gaits are generated to use as a reference point while walking motion. Then, an inverse kinematics with geometric solution
of a ten degree-of-freedom humanoid robot is formulated from hip until the ankle joint. By sampling period of time with ten this
reference point is used to find the joint angle of each link. The NAO humanoid robot is built in with force resistive sensor (FSR)
located under both feet are used to determine the walking stability by using force distributer concept. The zero moment point of the
robot is calculated on the normalized value between FSR reading from right leg and left leg. The result shown based on the real time
simulation environment by using Webots Robotic Software. A simulation result shows that a NAO humanoid robot successfully walks
in stable condition by following five different walking parameter setting. The humanoid robot is stable if and only if the normalized
value of the ZMP is between 1 and -1.
Index Terms: Walking gaits, NAO humanoid robot, ZMP
-----------------------------------------------------------------------***-----------------------------------------------------------------------
1. INTRODUCTION
For a humanoid robot to perform a task successfully in a real
world environment, stable dynamic biped locomotion is
required. However, the humanoid robots nowadays still do
not satisfy the aforementioned demands of the real and
uncertain environment. Researches on the motion control of
the humanoid robot still in the midway, whereas further
development and improvement are required because the
humanoid robot are extremely complex and non-linear
dynamical system.
The human walking motion is a natural model to be addressed
largely in kinematics of many humanoid robots. This objective
is intended to move towards convenience and smoothness of
human walking. However, although the natural human
walking motion is not very constrained, it seeks
comprehensive degrees of freedom (DOF) throughout the
body. The descriptions and models shown in this paper are
based on the kinematics of the legs only where inspired by Dip
Goswami. Haghighi, H. R. E. et al. presents a human like
walking trajectories for the feet and the hips in order to
achieve smooth and continuous walking pattern but the newly
designed mechanism is just for 8 DOF humanoid robots.
A lot of work model humanoid robot and its walking pattern
by using Inverted Pendulum Model (IPM) [2-3]. In this model,
the whole body is replaced with a concentrated mass located at
the center of mass (CoM). This model often utilized to
generated walking gaits for two legged mechanism. Inverted
pendulum model is useful for analysis the stability by
computing the ZMP which is the point on the ground where
the resultant of every moment is zero. However this method is
difficult to implement in high degree-of-freedom of humanoid
robot. Another recent method introduced by Kim [4] uses
Convolution-Sum-based algorithms to derive the center of
mass trajectory in real time from a given zero moment point
trajectory. The convolution-sum method inherently tracks the
zero moment point trajectory exactly and is based on a linear
inverted-pendulum model with a point mass. However, the
problem that arises with the convolution method is that it
tracks the zero moment point trajectory exactly, but does not
take the jerk into account. In the case of biped locomotion
method, the walking gaits are based on the optimal walking
parameters, which solve the inverse kinematics model.
Moreover, the generated gait maintains the postural stability
using system dynamics.
One of the methods of a biped walking pattern generation that
were taken into consideration is the Biped Locomotion
method proposed by Dip Goswami [1]. This method generates
2. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
__________________________________________________________________________________________
Volume: 02 Issue: 08 | Aug-2013, Available @ http://www.ijret.org 17
the gaits by means of generating joint-trajectories and
controlling each joint for trajectory-tracking so as to mimic the
human locomotion. For this reason, this paper present a
walking pattern trajectory generation inspired by Dip
Goswami (2009) and it is tested using NAO humanoid robot
in WebotTM robotic simulator. This paper organized as
follows. Section II discusses about the research method that
considering five types of parameters. Section III discusses
about simulation results and analysis after carried out three
experiments. Finally, conclusion follows in section IV.
2. WALKING METHOD
Common to a human walk, humanoid walk also consist of two
phases, single support phase and double support phase. At the
start of a walk, both feet are in contact with the ground, which
we called the double support phase. This phase will change
into the single support phase as soon as one of the legs lifts off
the ground. The leg that is lifted off then moves to a desired
location, and the cycle repeats itself as both feet are in contact
with the ground again. The motion of the walk can be seen
from Fig -1.
Fig -1: Phase of Walk
Fig -2: Gaits generation parameters.
Fig -2 shows the gaits generation parameter. This generated
walking gaits consist of the following parameters, which are
step-length is a length of the foot for one step (s), a bending-
height (h) which is the constant height between the waist and
ground during walking, a maximum lifting-height (H) which is
a foot maximum lifting height from the ground, a maximum
frontal-shifted (F) which is a maximum shift for the center of
mass of the robot from the left and right side and period time
(T) which is the period between the left and right foot
interchange.
The robot walking pattern is generated by selecting the
suitable function of time for the three reference points, the
stand leg at joint of left ankle coordinate (PL), the second
point at joint of hip coordinate (PH) and the third point at
right ankle coordinate (PR).
For 0 ≤ t ≤ T, PL will be static and acts as a reference for PH
and PR. For T ≤ t ≤ 2T, the positions for PL and PR are
interchanged. PL, PH and PR are the reference points that be
prompted to be selected. PL and PR are selected according to
the desired leg movement for a specific activity [1]. Dip
Goswami mentioned the height of the waist-link is kept
constant during walking A walking cycle for 0 ≤ t ≤ 2T, the
PL and PR for straight walking are provided by (2.1), (2.2)
and (2.3).
Left Foot Point
( ) ( )( )
( ) ( )( )
( ) ( )( )
( ) sin 2
2 2
( ) 2
( )
( ) sin 0.5 2
s T
PLx t t u t T u t T
T
PLy t w u t T u t T
PLx t
PLz t H u t T u t T
s
π
π
= − − − −
= − − − −
= + − − −
(2.1
)
Right Foot Point
( ) ( )( )
( ) ( )( )
( ) ( )( )
( ) sin
2 2
( )
( )
( ) sin 0.5
s T
PRx t t u t u t T
T
PRy t w u t u t T
PRx t
PRz t H u t u t T
s
π
π
= − − −
= − −
= + − −
(2.2
)
Where s, w and H as shown in the Figure 2.The ( )u t is a unit
step function given by equation (2.3).
( )
1 0
0 0
for t
u t
for t
≥
=
<
(2.3
)
PH for straight walking is given by (2.4) and (2.5).
Hip Point
1 2
( ) sin
4 2
( ) sin sin 1 sin
2 2
( )
s T
PHx t
T
t
PHy t F
T T
PHz t L L h
π
τ
π τπ π
= −
= +
= + −
(2.4
)
3. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
__________________________________________________________________________________________
Volume: 02 Issue: 08 | Aug-2013, Available @ http://www.ijret.org 18
Where τ represents when
0
2
t T t
T t T T t
τ
τ
≤ ≤ =
≤ ≤ = −
(2.5
)
Inverse Kinematic (IK) is used to calculate the joint angle by a
given position. The PL and PR points will act as input position
IK computation in Cartesian coordinate. Fig -3 shows the
parameter of the inverse kinematic computation. Table -1
provide the parameters for the NAO humanoid robot.
Fig -3: Inverse Kinematic parameters from hip to ankle.
Based on Fig -3, the trigonometric function is used to
determine the angle of each joint. The distance from ankle
position and the reference point, PH are used as the inputs for
the trigonometric function. Next, the inverse kinematic
algorithm will be described.
Table -1: NAO HUMANOID ROBOT PARAMETER
Parameter Values
L1 (Tibia Length) 0.1 meter
L2 (Thigh Length) 0.1 meter
W 0.1 meter
Distance between ankle and reference point PH for left and
right leg are:
xr PRx PHx xl PLx PHx
yr PHy yl PHy
zr PRz PHz zl PLz PHz
= − = −
= − = −
= − = −
(2.6
)
2 2 2
2 2 2
Lright xr yr zr
Lleft xl yl zl
= + +
= + +
(2.7
)
Then, the initial angle for left and right foot can be calculated
as:
( )
1 2 2 2
1 2
1 2
11
1
cos ( )
2
sin
cos
A
A
B
L L Lleft
L L
L
L
θ
θ
θ
−
−
+ −
=
=
( )
1 2 2 2
1 2
1 2
11
1
cos ( )
2
sin
cos
C
C
D
L L Lright
L L
L
L
θ
θ
θ
−
−
+ −
=
=
(2.8)
Where Aθ and Bθ will represent the angle for the left leg and
the Cθ and Dθ represent the angle for the right leg.
NAO humanoid robot has a total of 25 degrees of freedom
(DOF). The lower body part consist of 11 DOF includes legs
and pelvis and the upper body part consist of 14 DOF includes
trunk, arms and head. In this paper, only the lower body part
will be used to test and verify the walking pattern generation.
Each leg consists of 2 DOF at the ankle, 1 DOF at the knee
and 2 DOF at the hip.
Fig -4: Joint angle parameters
Based on the walking pattern generation algorithm, the robot
will walk approximately in a straight direction. The z-axis
rotations at the hip joint are assume constant. Next, the joint
angles for each link are determined.
The hip lateral angle and ankle lateral angle are calculated as:
1
1
5 1
1
12
8 12
tan
tan
yl
zl
yr
zr
θ
θ θ
θ
θ θ
−
−
=
= −
=
= −
(2.9)
4. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
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Volume: 02 Issue: 08 | Aug-2013, Available @ http://www.ijret.org 19
The joint angle for both knee are calculated as:
3
10
A
C
θ π θ
θ π θ
= −
= −
(2.10)
Then, to calculate the hip joint in x-axis, the equation of (2.8)
is used for the left leg and equation of (2.9) is used for the
right leg:
1
4
1
9
sin
2
sin
2
A B
C D
xl
Lleft
xr
Lright
π
θ θ θ
π
θ θ θ
−
−
= − + +
= − + +
(2.11)
Finally, the last angles at the ankle joint in x-axis:
2 3 4
11 10 11
θ θ θ
θ θ θ
= −
= −
(2.12)
A discussion of the Zero Moment Point (ZMP) concept is
based on a FSR (Force Sensitive Resistors) which is used to
measure the trajectory of the walking pattern of the NAO
humanoid robot walking. Generally, the total moment of the
force on the point is equal to zero.
In the simulation, all four FSR sensors are place under each
foot of the NAO humanoid robot as shown in Fig -6. The
fundamental of ZMP computation and implementation are
described in [1,5]. In walking sequence, when one leg is
swinging, the mass of the whole body of the robot is
connected to the stance foot which are same as inverted
pendulum model.
Table -2: FSR POSITIONS IN THE ANKLE FRAME
FSR Name Position X (m)
[Ankle Frame]
Position Y (m)
[Ankle Frame]
LFsrFL 0.07025 [LEFT] 0.0299 [LEFT]
LFsrFR 0.07025 [LEFT] -0.0231 [LEFT]
LFsrRL -0.03025 [LEFT] 0.0299 [LEFT]
LFsrRR -0.02965 [LEFT] -0.0191 [LEFT]
RFsrFL 0.07025 [RIGHT] 0.0231 [RIGHT]
RFsrFR 0.07025 [RIGHT] -0.0299 [RIGHT]
RFsrRL -0.03025 [RIGHT] 0.0191 [RIGHT]
RFsrRR -0.02965 [RIGHT] -0.0299 [RIGHT]
Fig -5: Force Sensitive Resistor position for NAO humanoid
robot
Fig -6: FSR place at both left and right feet.
The ZMP point in a sagittal plane XZMP and frontal plane for
YZMP point based on force sensors shown in Fig -7 From this
figure, the point C is a center of mass of the humanoid robot
and point O is the ankle joint of the robot.
Fig -7: Simplified model of the ZMP point based on the FSR
sensors.
5. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
__________________________________________________________________________________________
Volume: 02 Issue: 08 | Aug-2013, Available @ http://www.ijret.org 20
Then, based on Fig -6 and Fig -7, the ZMP in the x-direction
can be determined by:
( ) ( )
( )
1 1 2 2
1 2 1 1 2 2
1 1 2 2
1 2
0zmp zmp
zmp
zmp
F x x F x x
F F x F x F x
F x F x
x
F F
− − + =
+ = −
−
=
+
(2.13)
Where 1F and 2F are the sum of the FSR sensor in the sagittal
plane.
1 1 2
2 3 4
F f f
Left Foot
F f f
= +
= +
and
1 5 6
2 7 8
F f f
Right Foot
F f f
= +
= +
(2.14)
During the single support phase, a distance of x1 and x2 are
showed as in Fig -6. Then, the ZMP point in y-direction can
be determined as:
( ) ( )
( )
3 1 4 2
3 4 3 1 4 2
3 1 4 2
3 4
0zmp zmp
zmp
zmp
F y y F y y
F F y F y F y
F y F y
y
F F
− − − =
+ = −
−
=
+
(2.15)
Where the value of 3F and 4F can be get from the equation
(2.16) and a distance y1 and y2 as shown in Fig -6.
3 1 3
4 2 4
F f f
Left Foot
F f f
= +
= +
And
3 5 7
4 6 8
F f f
Right Foot
F f f
= +
= +
(2.16)
The ZMP point will be interchange from left to right based on
the COM movement. So, the normalized value of the
distributing the ZMP point can be calculated as equation
(2.17). This value can be used to plot a graph for determine
the stability of the robot during walking between 1 and -1.
zmpx zmpx
ZMP
zmpx zmpx
Left Right
X
Left Right
−
=
+
and
(2.17)
zmpy zmpy
ZMP
zmpy zmpy
Left Right
Y
Left Right
−
=
+
3. SIMULATION RESULT AND ANALYSIS
From equation (2.1, 2.2 and 2.4) there are four parameter need
to be consider which are bending height, frontal shift, step
length and maximum foot lifting height. Three experiments
were carried out to choose a walking trajectory parameter.
Experiment 1 is a comparison between differences bending
height. Then on experiment 2 is a comparison with difference
frontal shift. Lastly on experiment 3 is a comparison between
differences step length. Parameter setting in comparing the
difference bending height is shown in Table -3.
Table -3: Comparison with Different Bending Height
Step length
(m)
Bending
Height (m)
Lifting
Height (m)
Frontal
Shift (m)
0.1 0.021 0.028 0.055
0.1 0.020 0.028 0.055
0.1 0.019 0.028 0.055
0.1 0.018 0.028 0.055
0.1 0.017 0.028 0.055
From Table -3 the simulation was carried out by using Webots
simulation software for real time experiment. The normalized
value for Zero Moment Point (ZMP) was used to measure the
stability of the NAO humanoid robot during performing
walking.
Chart -1: ZMP x-axis for different bending height
6. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
__________________________________________________________________________________________
Volume: 02 Issue: 08 | Aug-2013, Available @ http://www.ijret.org 21
Chart -2: ZMP y-axis for different bending height
Chart -1 and chart -2 shows a normalized value for ZMP point
for Sagittal plane (X-axis) and Frontal plane (Y-axis). By
referring Chart -1, the bending height for h=0.021m until
h=0.019m and h=0.017m show the normalized value for ZMP
is fluctuating during interchange between left leg and right
leg. This condition will cause the humanoid robot walking in
unbalance. During the bending height equal to 0.018m the
graph show no fluctuates happen during transaction. So the
best setting for bending height is 0.018m. In experiment 2 the
value of front shift will compare and the value of bending
height will use a result from experiment 1. Table 4 shows a
parameter setting in experiment 2.
Table -4: Comparison with different Frontal Shift, F
Step length
(m)
Bending
Height (m)
Lifting
Height (m)
Frontal
Shift (m)
0.1 0.018 0.028 0.059
0.1 0.018 0.028 0.057
0.1 0.018 0.028 0.055
0.1 0.018 0.028 0.053
0.1 0.018 0.028 0.051
The result of the experiment 2 is shown in Figure 9. Based on
the graph shown in Chart -3 for ZMP x-axis and Chart -4 for
ZMP y-axis, when the frontal shift is equal to 0.055m the
robot can walked in stable condition. The purpose of the
frontal shift when in single support phase, maximum frontal-
shifted, F involved in the transfer of ZMP points from one foot
to the other foot. The robot maybe cannot lift the foot from the
ground if the F value is too small. Thus, the maximum frontal-
shift, F is an important parameter to choose in conducting the
walking robot experiment.
Chart -3: ZMP x-axis for different Frontal Shift
Chart -4: ZMP y-axis for different Frontal Shift
Lastly the experiment 3 is conducted by using result from
experiment 1 and 2. In experiment 3 the value of step length
will vary between 0.08m until 0.12m. This step length is
important parameter to make sure the robot will walk smooth
and no jerk. The parameter setting for experiment 3 shows in
Table 5.
Table -5: Comparison with different Step Length, s
Step length
(m)
Bending
Height (m)
Lifting
Height (m)
Frontal Shift
(m)
0.08 0.018 0.028 0.055
0.09 0.018 0.028 0.055
0.10 0.018 0.028 0.055
0.11 0.018 0.028 0.055
0.12 0.018 0.028 0.055
7. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
__________________________________________________________________________________________
Volume: 02 Issue: 08 | Aug-2013, Available @ http://www.ijret.org 22
Chart -5: ZMP x-axis for different Step Length
Chart -6: ZMP y-axis for different Step Length
Based on graph plotted in Chart -5 and -6, the best step length
is 0.1 which more stable when NAO humanoid robot
performing walking motion. The step length will affect the
robot walking speed and power consumption for a joint motor.
Then the conclusion from the experiment conducted the best
parameter setting for NAO humanoid robot is shown in Table
-6. The stability graph of the ZMP point is shown in Chart -6.
Only at one time the robot is unstable condition due to the real
time data capture from simulation are effected by environment
setting such as type of floor surface.
Table -6: Final Walking gait parameter setting
Step length
(m)
Bending
Height (m)
Lifting
Height (m)
Frontal Shift
(m)
0.1 0.018 0.028 0.055
Chart -7: Normalized ZMP value
CONCLUSIONS
Throughout this experiment, the walking pattern generation
considered ten degree of freedom (DOF) of the NAO
humanoid robot. The walking parameters that were used are
expressed in the inverse kinematic algorithm. The walking
pattern is generated based on the 5 parameters. The parameters
which are Period (T), Step Length (s), Bending Height (h),
Lifting Height (H) and Frontal Shift (F) implemented in the
walking pattern.
Stability of the robot during walking is measured by the ZMP
trajectory points. Stability is an important factor in the course
of experiment for a robot walking. Postural stability in
humanoid robot walking has been a research challenge for
more than three decades. The final walking pattern which has
been performed in this experiment is not yet optimal. A trial
and error procedure is needed to keep the robot from falling
down. In the near future, offline tracking control methods will
be used to generate a near optimal walking pattern which
makes the robot walk straight and reduce the amount of time
the robot falls while walking.
ACKNOWLEDGEMENTS
We would like to thank the Universiti Teknikal Malaysia
Melaka (UTeM) by supporting a fund for making this project
successful.
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8. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
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Volume: 02 Issue: 08 | Aug-2013, Available @ http://www.ijret.org 23
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