AUT-UofM Humanoid TeenSize Joint Team; A New Step Toward 2050’s Humanoid League Long Term RoadMap

Shangari, Taher Abbas; Shamshirdar, Faraz; Heydari, Mohammad Hossein; Sadeghnejad, Soroush; Baltes, Jacky; Bahrami, Mohsen

doi:10.1007/978-3-319-16841-8_44

Cited by 5 publications

(3 citation statements)

References 7 publications

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“…Furthermore, the entry-level requirements for new teams would increase significantly. The organizers plan to establish rules and procedures to encourage cooperation between teams, like between the University of Manitoba and Amirkabir University of Technology (Tehran Polytechnic) [16]. There have already been several initiatives directed at creating suitable communication protocols and infrastructure that will allow robots from different teams to play together effectively.…”

Section: Future Of the Humanoid League (2015-2050)mentioning

confidence: 99%

Humanoid Robots in Soccer: Robots Versus Humans in RoboCup 2050

Gerndt

Seifert

Baltes

et al. 2015

IEEE Robot. Automat. Mag.

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Section: Future Of the Humanoid League (2015-2050)mentioning

confidence: 99%

Humanoid Robots in Soccer: Robots Versus Humans in RoboCup 2050

Gerndt

Seifert

Baltes

et al. 2015

IEEE Robot. Automat. Mag.

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“…Legged robots can move on both regular and even irregular surfaces (Gerndt et al, 2015;Shangari et al, 2015;Navabi et al, 2017). A small area of their feet touches the ground, which means that legged robots can operate effectively.…”

Section: Introductionmentioning

confidence: 99%

The average speed of motion and optimal power consumption in biped robots

Esfanabadi

Rostami

Rahmati

et al. 2019

The Knowledge Engineering Review

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One of the issues that have garnered little attention, but that is nevertheless important for developing practical robots, is optimal walking conditions like power consumption during walking. The main contribution of this research is to prepare a correct walking pattern for humans who have a problem with their walking and also study the effect of average motion speed on optimal power consumption. In this study, we firstly optimize the stability and minimize the power consumption of the robot during the single support phase using parameter optimization. Our approach is based on the well-known Zero Moment Point method to calculate the stability of the proposed biped robot. Secondly, we performed experiments on healthy male, age 29 years, to analyze human walking by placing 28 markers, attached to anatomical positions and two power plates for a distance of more than one gait cycle at an average speed of 1.23 ± 0.1 m s−1 validate our results for motion analysis of correct walking ability. Our model was continuously validated by comparing the results of our empirical evaluation against the prediction of our model. The errors between experimental test and our prediction were about 4%–11% for the joint trajectories and about 0.2%–0.5% for the ground reaction forces which is acceptable for our prediction. Due to the presented model and optimized issue and predicted path, the robot can move like a person in a way that has maximum stability along with the minimum power consumption. Finally, the robot was able to walk like a specific person that we considered. This study is a case study and also can be generalized to all samples and can perform these procedures to another person’s with different features.

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“…For example, this will allow an average person to look the robot in the eye/camera rather than being forced to constantly look down on the robot [7,12]. In contrast to humanoid robots, these robots stand on only one foot [13]. Similarly, the Segway RMP two-wheeled self-balancing mobile robot has become popular in recent years [14].…”

Section: Introductionmentioning

confidence: 99%

Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

Navabi

Sadeghnejad

Ramezani

et al. 2017

Advances in Fuzzy Systems

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A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC) implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivial. We compare the performance of four different fuzzy controllers: (a) regulation with one signal, (b) regulation and position control with one signal, (c) regulation and position control with two signals, and (d) FSMC for regulation and position control with two signals. The system is evaluated in a realistic simulation and the robot parameters are chosen based on a LEGO platform, so the designed controllers have the ability to be implemented on real hardware.

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AUT-UofM Humanoid TeenSize Joint Team; A New Step Toward 2050’s Humanoid League Long Term RoadMap

Cited by 5 publications

References 7 publications

Humanoid Robots in Soccer: Robots Versus Humans in RoboCup 2050

Humanoid Robots in Soccer: Robots Versus Humans in RoboCup 2050

The average speed of motion and optimal power consumption in biped robots

Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

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