ipl-logo

Humanoid Robotics

3018 Words13 Pages

Abstract
Humanoid Robotics is a new and challenging research field which received significant attention since 1970s and will continue to play a central role in robotics research and in many applications of the 21 century. Regardless of the application area, one of the common problem tackled in humanoid robotics is the understanding of human like information processing and the underlying mechanism of the human brain in dealing with the real world. Considerable progress have been made in humanoid research resulting in a number of humanoid robots able to move and perform well designed tasks. Over the past decade in humanoid research, an emerging spectrum of science and engineering has emerged that leads to the development of highly advanced …show more content…

Many researchers have contributed to biped locomotion on dynamic modeling, control, and gait synthesis and stability analysis. Among which, dynamic modelling is the basis in the study of a bipedal walking.

In [13] a dynamic model including the both Double support phase & single support phase and double impact are developed for the five link biped robot. Lagrangian formulations are used for deriving dynamic equations of Single support phase and double support phase. To solve the multiplier in double support dynamic equations, pseudo Jacobian will be formulated due to non-square Jacobian matrix. For the dynamic of impact, both the integration method and Newtonian method are used but only the detailed derivation using the Newtonian method is presented and the results from both the method are to be compared.

A bipedal robot has mechanism of movement as a human and it has capacity to operate in environments containing different kind of obstacles. However the dynamic of biped robot are highly nonlinear, complex and unstable. It is difficult to generate a human like bipedal motion. ZMP help to synthesize the walking patterns of biped robots and demonstrate a walking motion with actual robots. The ZMP point out dynamic stability of a biped …show more content…

The prototype, name RABBIT, has four independent actuators; the axis between the torso and each thigh is actuated as is the axis of each knee. The actuator have been sized so that robot speeds compare well with the capabilities of humans. Many of the technical considerations that went into the design of the robot are summarized in [16]. The principal motivations for constructing the prototype were to study modelling, determination of optimal trajectories, limit cycles, stabilization of trajectories and the transition between walking running.
Conclusion
It is possible to convert a inadmissible path into admissible by changing the pattern parameters
ZMP is practically demonstrated in WL-10RD family of robots. Since then it is used in anthropomorphic systems and its stability is studied from different prospective including mathematical.
ZMP error in the trajectory generation can be reduce by an adjustment in the height of Center of Gravity. To change the height we change the parameters in the inverted pendulum mode.
In case of un-nominal walk of the robot, effects of un-nominal motion can be studied by changing the hip parameters. To reduce the weight on the hip joint with respect to minimum energy consumption we required to keep the hip at a high

Show More
Related
1038 Words | 5 Pages

With attention to Lucy, bipedalism is a unique quality that links us to the evolution of humans and who we are today. One of the earliest human trains discovered was bipedalism, which meant they possessed the ability to walk on two legs and it became a regular basis. This evolved over 4 million years. The oldest evidence of humans walking on two legs come from the remains of Sahelanthropus. Since it was bipedal, it helped this species survive in diverse habitats (“Walking Upright”).

Read More
766 Words | 4 Pages

PURPOSE The goal of this lab was to build a mousetrap powered car. The mousetrap car needed to travel fifteen feet. The purpose of building these mousetrap cars was to demonstrate our knowledge of motion, friction, force, distance, and energy. We have studied these concepts, and each one is a factor in the success of a mousetrap car.

Read More
1485 Words | 6 Pages

All of the subjects were equipped with total quadrilateral socket, a constant friction single axis knee joint and a solid ankle cushion heel foot prosthetic. The prior and post training measurements taken were the percentage of weight bearing on the amputated side and temporal distance of gait based on footprints. The training in the TPT group consisted of weight shifting, dynamic balance exercises, braiding, stool stepping, ascending/descending stairs and gait exercises. The PNF group training included the free dynamic balance exercises of the traditional group along with static balance exercises. When the subject was performing the balance exercises the physical therapist would apply resistance in an antagonistic direction.

Read More
795 Words | 4 Pages

Ursela LeGuin’s Direction of the Road is a short story detailing the primary events of an Oak tree’s life. The Oak tree creates a bridge into their own world for the reader by using speculative fiction to help provide insight on their perspective. Throughout the paper, Leguin anthropomorphizes the Oak tree by giving them common human characteristics so the reader will realize that the Oak tree can conceptualize and has feelings. The discourse of the story follows a linear trend that reveals the plot as the story progresses.

Read More
518 Words | 3 Pages

Hominids had to adapt to survive. One of the physical adaptions that gave hominids an advantage was bipedalism. This occurred because of environmental changes. According to Pollard, Rosenberg and Tignor. The world was experiencing its forth ice age.

Read More
1198 Words | 5 Pages

For our survival, we would do anything, even if it means transforming our way of life. The exploitation of new movement has been possible due to emergence of new tools. (Steele, 2011) As studied in Evolutionary Anthropology class, the ability for primates to walk bipedally isn’t a coincidence. It is proof of the adaptations we had to encounter as we fought to survive many obstacles over the years.

Read More
298 Words | 2 Pages

His legs do all of the thinking about where he steps causing the neurons in his brain

Read More
754 Words | 4 Pages

Norby is the chief protagonist in the Norby Chronicles series of novels by Isaac Asimov. Norby made his first appearance when he the 1983 published title Norby the Mixed Up Robot and went on to be the lead in eleven more tiles. While Janet Asimov wrote about 90% of the novel, Isaac Asimov polished some parts of the work and added his name to enhance sales. The Norby character was originally a robot that had been brought into being by another robot known as Mentor First on an interstellar planet.

Read More
718 Words | 3 Pages

Through the use of symbols and language, Steinbeck emphasizes the importance of companionship and the harshness of the real world. In the book Of Mice and Men, the characters learn of the predatory nature of the human existence and that having someone by your side throughout this constant pressure makes it a lot easier. Steinbeck repeats symbols and creates parallels while writing in a straightforward, unpretentious way to express these themes. Within the book, Steinbeck shows us the loneliness of the men on the ranch and how much they all strive to have a brotherly relationship with one another.

Read More
1197 Words | 5 Pages

Isaac Asimov’s Reason, shows us how the field of robotics is still a working-progress, Philip K. Dick’s Second Variety introduces the idea of superior, conscious machines who were created by advanced technology, and Kenneth Chang’s “Can Robots Become Conscious?” shares different views on the advancement of machines and robots. I believe machines and robots are not glorified adding-up machines and I think it is possible that they will become capable of original thought the more we advance in the field of robotics. Similar to the iPhone updates, new technology and new studies could lead to intelligent, conscious machines. Technology has come a long way, with the introduction of the Siri of the iPhone, Window 10 2-in-1 computers, flying military drones, and many more.

Read More
2173 Words | 9 Pages

The adaption of bipedalism caused the skeleton of hominins to change in order to make bipedalism even more advantageous for hominins. An upright posture is one of the many changes that take effect and it generates other advantages for hominins as well.

Read More
502 Words | 3 Pages

Adaptations require a reproductive advantage to become fixed in a population. Bipedality has many negative factors including increased risk of injury, decreased speed and agility, and the inability to cooperatively carry infants. Considering these drawbacks of bipedality, there had to be an extreme selective pressure to adapt bipedality. Ape populations declined as the Miocene progressed, except for hominids. This was a result of the Miocene apes becoming increasingly K-selected.

Read More
1065 Words | 5 Pages

Studies show that walking on two legs requires less energy and is therefore more advantageous to the hominid. A study was done to assess the energy level of chimps when walking on a treadmill, on two and four legs. The results displayed that walking on four legs required 75% more energy than walking on two, thus confirming the theory that it is more effective and

Read More
761 Words | 4 Pages

Stands on tiptoe. Kicks a ball. Climbs onto and down from furniture without support. Walks up and down stairs with support.

Read More
742 Words | 3 Pages

As technology and robotics progress, people continue to debate how jobs and careers could be affected. Robotic replacement might not have a negative effect , especially since it has helped our development to be able to survive. The process of the robotic development started in the industrial age. The industrial age is known for “a period in which fundamental changes

Read More

More about Humanoid Robotics

Related Topics

Open Document