Development of a New Hydraulic Ankle for HYDROïD Humanoid Robot

Abdellatif, A.; Alfayad, Samer; Hildebrandt, Arne-Christoph; Ouezdou, Fethi Ben; Mechbal, Nazih; Zweiri, Yahya

doi:10.1007/s10846-017-0750-z

Cited by 11 publications

(10 citation statements)

References 23 publications

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“…[5] Hydoïd [6] is a real-life humanoid robot whose purpose is to contribute to improving the understanding of locomotion, the phenomenon of human motion. Humanoids on a Hydraulic Drive [7] can accomplish full spectrum of heavy and useful tasks, replacing people in environments that require them. HOPALALA is an open platform humanoid robot that users can adapt to their own needs.…”

Section: Humanistic Approach Of Biomimetic Roboticsmentioning

confidence: 99%

“…[5] is a real-life humanoid robot whose purpose is to contribute to understanding of locomotion, the phenomenon of human motion. a Hydraulic Drive [7] can accomplish full spectrum of heavy and eplacing people in environments that require them. The Virtual Armchair Project (FUI Ile de France with EDF and CEREMH, 2014/2018) was developed as a result of the FUI AccesSim project focused on assessing the virtual reality of urban accessibility.…”

Section: Humanistic Approach Of Biomimetic Roboticsmentioning

confidence: 99%

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Transhumanism — Robotics Interactions

Vujačić

Alayli²

2021

joe

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Thinking wrong that the humanistic ideal has already been realized, transhumanism is promoting the liberation of man by progressive overcoming of his own biological boundaries in order to improve his physical and mental abilities, as well as his life extension. From interaction between biomimetic robotics and transhumanism augmented man was born. But a smart management application is still missing, that one for a future society, in which men and supermen will live together and which would allow technological improvement to everyone and halt the accelerated process of deepening socio-economic inequalities. That's the reason why the transhumanism is often experienced as an opponent and competitor to humanism, same as the new technology development which is often perceived as the goal in itself - as a phenomenon which is not in the service of the real needs of social development. Consequently, It is urgent to move from simple thinking (speculations, preferences and beliefs) to the complex one: proposing hypotheses and solutions, creating relationships and observing interactions, seeking criteria, relying on verified facts and self-correction practices.

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Section: Humanistic Approach Of Biomimetic Roboticsmentioning

confidence: 99%

Section: Humanistic Approach Of Biomimetic Roboticsmentioning

confidence: 99%

Transhumanism — Robotics Interactions

Vujačić

Alayli²

2021

joe

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“…They showed that moving in the different directions was possible but displacement on complex environment requires another approach in this regard. Also, hydraulic and pneumatic methods require at least a powerful and high weight pump or compressor which they will clearly make the noise pollution 14 – 16 .…”

Section: Introductionmentioning

confidence: 99%

Bio inspired general artificial muscle using hybrid of mixed electrolysis and fluids chemical reaction (HEFR)

Zakeri

2022

Sci Rep

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One of the issues in the field of soft-robotic systems is that how to create a fast displacement mechanism which it operates close to nature. This paper presents a deep study of hybrid of mixed electrolysis and fluids chemical reaction (HEFR) method for general applications, considering contraction/expansion of a single/multiple (taped) soft bio-inspired actuators in various conditions and a practical instance of a moving wing mechanism. This research extends the recent study of corresponding author’s team (Zakeri and Zakeri, Deformable airfoil using hybrid of mixed integration electrolysis and fluids chemical reaction (HEFR) artificial muscle technique. Sci Rep 11:5497, 2021) that previous study concentrated on just single bio actuator in deformable airfoil. This work offers a general artificial muscle which it employs the hybrid of mixed electrolysis (electrolysis module with 10 mL capacity without any separation of materials such as O2 or H2), two fluids for chemical reaction (sodium bicarbonate (NaHCO3 (s)) and acetic acid (CH3COOH (l))) and also multilayer soft skin bags (40 × 30 mm). The analyzed parameters are amount of displacement (contraction/expansion) over time (response time), the ratio of output force to total weight and extremely low expense of manufacturing. The main results are as follows: the released energy from 1 mL sodium bicarbonate, 10 mL acetic acid and a 12 V electrolysis module have ability to give a response time less than 1 s (25 mm expansion and 4 mm contraction) with 12 W power consumption and also bio actuator can easily displace a 250 g object (total weight of components is almost 33 g). Also, it has been shown that the response time of mixed electrolysis in the proposed inactive solution (without any fresh chemical reaction) will be nine times to pure water. In the active solution (refresh chemical reaction), response time of HEFR will be accelerated 2.44 times to pure chemical reaction. By applying the multilayer soft skin bags or soft actuators (multi contraction and multi expansion model), a practical movable flapping wing has been presented which a full cycle of flapping would take 2 s. The proposed method has ability to show a quick response time, without making any noise, very low construction cost and practical for general and frequent uses.

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“…Research has been ongoing on developing an integrated electrohydraulic actuator for robotic applications. The first prototype was presented in Alfayad et al 35,41 further research concerning the mathematical modeling and system identification was done in Abdellatif et al 42 The first IEHA actuator needed an actual pressure of 25 bar to produce a flow rate of 0.024 l/min against an expected theoretical flow of 0.13 l/min at the same pressure. A motor speed of 3000 rpm is used for both cases.…”

Section: Introductionmentioning

confidence: 99%

Performance enhancement of an integrated electro-hydraulic actuator using dynamic modeling and optimization

Amrollah¹,

Abdellatif

Alfayad

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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For robotic applications, hydraulic actuation is still an open research issue. A hydraulic actuation solution based on integrated hydraulics is presented in the form of an integrated electro-hydraulic Actuator (IEHA). This actuator tackles some issues related to compactness and self-contained autonomous robotic systems. One of its primary uses is the actuation of the hydraulic humanoid robot HYDROïD. Primary experimental validation of the IEHA actuator has suffered from several low-performance issues. The main reason for such performance is due to that inner friction forces and leakage losses were not addressed or modeled yet. In this paper, a detailed dynamic model of the IEHA actuator is needed to identify the mechanical components that affect the volumetric and mechanical efficiencies of the actuator. The dynamic model focuses on the dynamics of essential parameters and components like the micro-pump pistons, their internal leakage, and friction during actuation. The design parameters of these mechanical parts are optimally calculated to produce a new enhanced dynamic model. The new IEHA model is verified through simulation to actuate the ankle pitch rotation of the robot. A genetic algorithm is used to optimize the geometrical and design parameters while enhancing the overall mechanical and volumetric efficiencies of the IEHA. The IEHA model was able to generate a locomotion gait cycle successfully for a walking speed of 1.17 m/s. Simulation results have shown that the design enhancements led to 95% and 97% volumetric and mechanical efficiencies respectively. Finally, the new enhanced IEHA prototype is tested experimentally. The output flow of the new prototype has improved by approximately 58%.

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Development of a New Hydraulic Ankle for HYDROïD Humanoid Robot

Cited by 11 publications

References 23 publications

Transhumanism — Robotics Interactions

Transhumanism — Robotics Interactions

Bio inspired general artificial muscle using hybrid of mixed electrolysis and fluids chemical reaction (HEFR)

Performance enhancement of an integrated electro-hydraulic actuator using dynamic modeling and optimization

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