The document discusses the components and mechanisms of robot leg structures, highlighting types of actuators (including electrical, hydraulic, and pneumatic), various sensors, and control systems like PID. It also covers locomotion types and stability aspects of humanoid robots, mentioning the Zero Moment Point (ZMP) and its importance in assessing a robot's stability. Finally, the document outlines the applications of humanoids across various fields like space, medical sciences, and entertainment.

1. • PRESENTED BY -
CHOUDHARY SUMIT AJAY
“ROBOT LEG MECHANISM”
A
SEMINAR
PRESENTATION ON

2. COMPONENTS OF ROBOT LEG
Structure
Power
source
ActuationMobility
Sensing

3. STRUCTURE(KINEMATIC CHAIN)
LINKS(BONES)
ACTUATORS(MUSCLES)

4. POWER SOURCE
POWER
SUPPLY
A.C. D.C. SOLAR

5. TYPES OF ACTUATORS
Electrical
 Hydraulic
 Pneumatic
Others

6. ELECTRICAL ACTUATORS
The types of Actuators we use in Robotics
are:
AC motors
DC motors
DC geared motors
Stepper motors
Servo motors

7. TYPES OF SENSORS
• IR SENSOR
• SOUND SENSOR
• TEMPERATURE SENSOR

8. PID CONTROL SYSTEM
 Proportional-integral-derivative (PID) control
 Is control loop feedback mechanism
 Controller minimizes the error
 three-term control: P I D
 PID equation
Kp – Proportional Gain
Ki – Integral Gain
Kd- Derivative Gain

9. LOCOMOTION
DOF
TRANSATIONAL
ROLL,PITCH,YAW
ROTATION
X,Y,Z

10. TYPES OF LOCOMOTION MECHANISM
locomotion
wheeled
crawler
legged

11. Robot leg

12. STABILITY
STABILITY
STATIC
(mech. design)
DYNAMIC
(control)

13. STABILITY OF A ROBOT
STABILITY
BIPED
CG
ZMP
QUADRUPPED CG

14. where x.... , y.... and ..z.. are linear
accelerations, Iix and Iiy , are inertia
coefficients, aix and aiy are
angular accelerations, mi is the mass of the link
i, and g is the gravitational acceleration
DETERMINATION OF ZMP
Biped lumped mass model.

15. The ZMP is defined as the point on
the ground where the sum of all
the active moments of force is null.
Minimum distance between the
ZMP and the border of the stable
region is called the stability margin
This can be considered as an indicator of
the quality of the robot’s stability.

16. CHARACTERISTICS OF HUMANOIDS
• Self-maintenance
• Autonomous learning
• Avoiding harmful situations to people,
property, and itself
• Safe interacting with human beings and the
environment
• Legged locomotion
• Arm control and dexterous manipulation

17. LEG-WHEEL HYBRID ROBOTS
• • The Mini-Andros is used
• by bomb squads across
• the country to locate and
• dispose of bombs. About
• three feet long, the Mini-
• Andros looks something
• like a small armoured
• tank with eight wheels on
• four "legs" that extend
• for climbing stairs.
Shrimp (EPFL)

18. a) Biped leg-wheel robot (1998) b) Roller Walker (1996)
c) RHex (2001) d) Whegs II (2003)
Leg–wheel hybrid robots

19. Disadvantages Advantages

20. APPLICATION
OF
HUMANOIDS
SPACE
MEDICAL
SCIENCE
WARFRONTS
INDUSTRIES

21. Prosthetics
Inspection of
dangerous
environments
Entertainment Agricultural work
APPLICATIONS

23. Q
U
E
R
I
E
s