An effort for resolving redundancy of a multi-finger robotic hand in straight-line motions

Neha, Eram; Orlando, M. Felix; Suhaib, Mohd; Shrivastava, Yogesh

doi:10.1007/s40430-020-02684-w

Cited by 9 publications

(3 citation statements)

References 43 publications

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“…A kinematic model is developed for the proposed design in order to analyze the form of walking pattern, the working space, and the payload 21) . Kinematic Analysis helps to determine the motion capabilities of the robot along with its workspace and the area required for its operation 22) . Literature have shown that there are a number of leg types currently working for hexapod walking robots.…”

Section: Proposed Methodologymentioning

confidence: 99%

Modelling and Analysis of Hexapod walking Robot

Shrivastava¹,

Diwakar²,

Sehgal³

et al. 2022

Evergreen

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In comparison with the majority of other animals, the spider can access all kinds of environments where other animals or even humans can't. These important attributes are taken into consideration, to design and develop a Hexapod Walking Robot, in order to perform various movements such as ascend and descend in all the directions. Hexapod Robots have always been a centre of attraction for several years. Many universities, research centres, and industries have carried out studies but in the past few years, systematic walking robots have been formulated, fabricated, and built with implementations that can be suitable for experimental demands. The paper presents a model to understand how, mathematically, a hexapod animal walk. The aim is to develop a suitable bio-mimetic model of hexapod walking robot that is lighter in weight with reduced number of motors and easily controllable. Modifications in the design is adopted by using solid works. Thereafter, a detailed analysis of the model is conducted along with the moment and force analysis. Moment analysis is carried out to check the walking capabilities of the legs at extreme joint positions. The robot leg motion is checked by applying loads at which the robot turns to fail and it has been found that the proposed model is suitable to bear different forces while walking to perform any desired task. This research also gives an outline of the design considerations of the Hexapod Walking Robot and a detailed design procedure is also discussed for the feasible and systematic design of a walking robot. In particular, these design procedures covers the main features such as mechanical structure and leg configuration, actuating and driving systems, motion controls, and walking gaits.

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Section: Proposed Methodologymentioning

confidence: 99%

Modelling and Analysis of Hexapod walking Robot

Shrivastava¹,

Diwakar²,

Sehgal³

et al. 2022

Evergreen

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“…At discrete positions, KSOM is capable of approximating the inverse kinematics that translate from Cartesian coordinates to the joint space. To guarantee global stability, the inverse kinematic relationship over the entire workspace can be learned using the KSOM-based learning method [29].…”

Section: Position Control Using Ksommentioning

confidence: 99%

Redundancy Resolution of a Mobile Manipulator Using Learning Based Algorithm

Tolossa,

Gupta,

Orlando

et al. 2024

Preprint

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A learning-based strategy for the trajectory tracking of redundant mobile manipulators (MM) was presented in this study. A five-degrees-of-freedom (DOF) manipulator is mounted on the differential drive (DD) mobile robot. The advantage of using a redundant system is to avoid joint limits, obstacles and singularities towards desired trajectory tracking. The proposed approach is based on Kohonen Self-Organizing Map (KSOM) enhanced a weighted least norm (WLN) matrix algorithm. This approach is the recommended neural network for inverse kinemat-ics solutions because of its stability, preserved topology, and capacity to optimize the joint space trajectory while producing a smooth minimal joint angle. A proposed method for redundancy resolution in MM has been simulated using MATLAB simulation code and the Gazebo real-time simulation pysical environment. The simulation results are evaluated with the joint limit method of redundancy resolution and other existing controllers for verification purpose. The conventional method of redundancy resolution is local optimum and infeasible for the end-effector motion in the entire workspace. The KSOM uses different steps of error correction that improve the system’s performance as well as ensure the global asymptotical stability of the system.

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“…Neha and shuhaib [13], [14] has done the kinematic analysis and also planned the motion of the fingers such that ,The general solution of joint velocity was interpreted using the generalised inverse of the jacobian matrix; however, this work is accomplished using the pseudo-inverse of the jacobian matrix. E.Neha et al [15] proposed the redundancy resolution schema that was applied to four finger tendon actuated robotic hand and observed that schema can solve redundancies of any robotic hand. Our proposed method provides a generalized framework for generating different gaits by varying the body trajectory parameters.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Kinematics of a 12-DOF Biped Robot Gait by Parametrization of Its Body Trajectories

Chauhan¹,

Kumar²

2023

Advances in Transdisciplinary Engineering

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This paper focuses on modeling forward and inverse kinematics of a 12-DOF bipedal robot and parametrizing its body trajectory to generate different gaits on 3D terrain.The 12-DOF kinematic chain represents the lower body part of the humanoid robot. The Cartesian coordinate is assigned to each link of the biped robot using the Denavit-Hartenberg (DH) convention. One step of the bipedal walk is divided into three walk phases depending on whether one foot or both feet are in contact with the ground.Time parameterized cubic splines construct the biped robot’s mid-hip and swinging foot trajectory.The inverse kinematic determines the values of the joint angles corresponding to hip and swinging foot frame trajectory using the geometric relation between foot ankle point, knee position,and hip position. The complete one-step gait of the biped robot is represented in the form of a stick diagram.The proposed method is a geometrical approach to parameterize the gait of a biped robot for one step of the walk in terms of hip and swinging foot trajectory optimization is required to determine energy optimal balanced gait, which we envisage as our future task.

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An effort for resolving redundancy of a multi-finger robotic hand in straight-line motions

Cited by 9 publications

References 43 publications

Modelling and Analysis of Hexapod walking Robot

Modelling and Analysis of Hexapod walking Robot

Redundancy Resolution of a Mobile Manipulator Using Learning Based Algorithm

Analysis of Kinematics of a 12-DOF Biped Robot Gait by Parametrization of Its Body Trajectories

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