Biomimetic Energy-Based Humanoid Gait Design

Maalouf, Noel; Elhajj, Imad H.; Shammas, Elie; Asmar, Daniel

doi:10.1007/s10846-020-01179-z

Cited by 3 publications

(1 citation statement)

References 43 publications

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“…In the second step, inverse kinematics calculations are performed so that the robot can follow these trajectories. When the foot and pelvis positions are known, joint angles can be calculated using the inverse kinematics method, either analytically or numerically [12][13][14][15][16][17].…”

Section: Introductionmentioning

confidence: 99%

Precise Calculation of Inverse Kinematics of the Center of Gravity for Bipedal Walking Robots

Şanlıtürk,

Kocabaş

2024

Applied Sciences

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The walking of humanoid robots is dependent on the precise tracking of their center of gravity and foot trajectories. Trajectory tracking is achieved by mobilizing their joints to achieve the correct trajectory. Errors occur because of assumptions on tracking the center of gravity and the foot trajectories. In this study, a numerical algorithm was developed that produces an exact and single kinematic solution in which the center of gravity and foot trajectories can be tracked with the desired precision. The effectiveness of this algorithm was examined with a dynamic simulation and compared with a method given in the literature. The main highlight of this study, using the presented algorithm, is that the robot could walk even if the position of its center of gravity was lower than its hips, resulting in a tracking error that was smaller than that reported in the literature.

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Section: Introductionmentioning

confidence: 99%

Precise Calculation of Inverse Kinematics of the Center of Gravity for Bipedal Walking Robots

Şanlıtürk,

Kocabaş

2024

Applied Sciences

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Assist-As-Needed Control of a Hip Exoskeleton, Using Central Pattern Generators in a Stride Management Strategy

Naghavi

Akbarzadeh

Khaniki

et al. 2023

J Intell Robot Syst

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Productivity enhancement of continuous miners packages of underground mines with energy conservation in industrial sectors

Siddiqui,

Chattopadhyaya,

Sharma

et al. 2024

Energy Exploration & Exploitation

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Energy auditing is crucial for both emerging and developed nations, focusing on aspects such as energy efficiency, quality and intensity. This becomes especially significant in the industrial sector, where major operating costs involve materials, machinery, personnel and energy. A key objective is identifying energy consumption in the Continuous Miner Machine, boasting a 1050 KW connected load, to explore opportunities for energy savings and improved quality. The execution of an energy audit promises increased efficiency, enhanced power quality, reduced costs and prevention of energy wastage. This research study has meticulously examined the electrical equipment supplying power to Continuous Miner Machines, proposing modifications to boost production through energy-efficient methods. Comprehensive assessments of primary substations, including Incomers, Transformers, Feeders, etc., involve tests for voltage, current, power factor, harmonics and AC waveform. Thermal imaging is employed to analyze the operational temperature of the electrical equipment. The graphical representations of test outcomes have highlighted a significant recommendation: installing an Automatic Power Factor Controller on the inductive load side of transformers could lead to a notable 3.85% reduction in energy costs.

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Biomimetic Energy-Based Humanoid Gait Design

Cited by 3 publications

References 43 publications

Precise Calculation of Inverse Kinematics of the Center of Gravity for Bipedal Walking Robots

Precise Calculation of Inverse Kinematics of the Center of Gravity for Bipedal Walking Robots

Assist-As-Needed Control of a Hip Exoskeleton, Using Central Pattern Generators in a Stride Management Strategy

Productivity enhancement of continuous miners packages of underground mines with energy conservation in industrial sectors

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