Kinematic Synthesis and Modeling of a Three Degrees-of-Freedom Hybrid Mechanism for Shoulder and Hip Modules of Humanoid Robots

Alfayad, Samer; Tayba, Ahmad; Ouezdou, Fethi Ben; Namoun, Faycal

doi:10.1115/1.4033157

Cited by 10 publications

(7 citation statements)

References 14 publications

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“…First, in this robot, there are a total of 16 hydraulic cylinders and 24 rods and pistons. The hydraulic cylinders are divided over HYDROı¨D body as follows: three hydraulic cylinders in each shoulder, 32 two hydraulic cylinder in each torso, two hydraulic cylinders in each hip, one hydraulic cylinder in each knee, and one hydraulic cylinder in each toe. 33 On the other hand, the piston and rods are divided as follows: two rods and pistons at each elbow, two rods and pistons at the torso, and four rods and pistons at each ankle and wrist 34 ( Figure 20).…”

Section: Resultsmentioning

confidence: 99%

Development of lightweight hydraulic cylinder for humanoid robots applications

Elasswad

Tayba

Abdellatif

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper presents a lightly weighted hydraulic actuator that is designed mainly for robotic applications. This hydraulic cylinder will be used as the main actuator for the hydraulic humanoid robot HYDROïD. For implementation, the knee joint is taken as an example in order to execute the necessary steps to build the actuator from carbon fiber composite material. An optimization process is used to minimize the total weight of the actuator and satisfy its constraints. Meanwhile, the mechanical design with the integrated sensors is shown. In addition, results are discussed on the spot of the weight minimization and actuator performance. Finally, experimental testing is carried out to monitor the pressure and the position readings of the hydraulic cylinder.

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Section: Resultsmentioning

confidence: 99%

Development of lightweight hydraulic cylinder for humanoid robots applications

Elasswad

Tayba

Abdellatif

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…In the hybrid mechanism of the hip, shoulder, and torso, the requirement is a wide range of motion in the pitch axis, while for the yaw and roll axes, nearly the same range of motion is required. Hence, the choice of the rotary actuator for these mechanisms is for achieving a wide range of motion in the pitch axes, and two other linear actuators are used for the yaw and roll rotation [25].…”

Section: Hydroïd's Mechatronics Overviewmentioning

confidence: 99%

Real-Time EtherCAT-Based Control Architecture for Electro-Hydraulic Humanoid

Ghandour,

Jleilaty,

Ait Oufroukh

et al. 2024

Mathematics

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Electro-hydraulic actuators have witnessed significant development over recent years due to their remarkable abilities to perform complex and dynamic movements. Integrating such an actuator in humanoids is highly beneficial, leading to a humanoid capable of performing complex tasks requiring high force. This highlights the importance of safety, especially since high power output and safe interaction seem to be contradictory; the greater the robot’s ability to generate high dynamic movements, the more difficult it is to achieve safety, as this requires managing a large amount of motor energy before, during, and after the collision. No matter what technology or algorithm is used to achieve safety, none can be implemented without a stable control system. Hence, one of the main parameters remains the quality and reliability of the robot’s control architecture through handling a huge amount of data without system failure. This paper addresses the development of a stable control architecture that ensures, in later stages, that the safety algorithm is implemented correctly. The optimum control architecture to utilize and ensure the maximum benefit of electro-hydraulic actuators in humanoid robots is one of the important subjects in this field. For a stable and safe functioning of the humanoid, the development of the control architecture and the communication between the different components should adhere to some requirements such as stability, robustness, speed, and reduced complexity, ensuring the easy addition of numerous components. This paper presents the developed control architecture for an underdeveloped electro-hydraulic actuated humanoid. The proposed solution has the advantage of being a distributed, real-time, open-source, modular, and adaptable control architecture, enabling simple integration of numerous sensors and actuators to emulate human actions and safely interact with them. The contribution of this paper is an enhancement of the updated rate compared to other humanoids by 20% and by 40 % in the latency of the master. The results demonstrate the potential of using EtherCAT fieldbus and open-source software to develop a stable robot control architecture capable of integrating safety and security algorithms in later stages.

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“…This approach accommodated the wide motion ranges of the shoulder module and introduced a new perspective on the contributions of linear actuators in both motion and force generation. The research employed kinematic and geometrical models to optimize the hybrid mechanisms, demonstrating their broad applicability in various robotic systems [55].…”

Section: Parallel Robot For Shoulder Humanoidmentioning

confidence: 99%

A Review of Parallel Robots: Rehabilitation, Assistance, and Humanoid Applications for Neck, Shoulder, Wrist, Hip, and Ankle Joints

Abarca,

Elias

2023

Robotics

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This review article presents an in-depth examination of research and development in the fields of rehabilitation, assistive technologies, and humanoid robots. It focuses on parallel robots designed for human body joints with three degrees of freedom, specifically the neck, shoulder, wrist, hip, and ankle. A systematic search was conducted across multiple databases, including Scopus, Web of Science, PubMed, IEEE Xplore, ScienceDirect, the Directory of Open Access Journals, and the ASME Journal. This systematic review offers an updated overview of advancements in the field from 2012 to 2023. After applying exclusion criteria, 93 papers were selected for in-depth review. This cohort included 13 articles focusing on the neck joint, 19 on the shoulder joint, 22 on the wrist joint, 9 on the hip joint, and 30 on the ankle joint. The article discusses the timeline and advancements of parallel robots, covering technology readiness levels (TRLs), design, the number of degrees of freedom, kinematics structure, workspace assessment, functional capabilities, performance evaluation methods, and material selection for the development of parallel robotics. It also examines critical technological challenges and future prospects in rehabilitation, assistance, and humanoid robots.

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Kinematic Synthesis and Modeling of a Three Degrees-of-Freedom Hybrid Mechanism for Shoulder and Hip Modules of Humanoid Robots

Cited by 10 publications

References 14 publications

Development of lightweight hydraulic cylinder for humanoid robots applications

Development of lightweight hydraulic cylinder for humanoid robots applications

Real-Time EtherCAT-Based Control Architecture for Electro-Hydraulic Humanoid

A Review of Parallel Robots: Rehabilitation, Assistance, and Humanoid Applications for Neck, Shoulder, Wrist, Hip, and Ankle Joints

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