Natural sit-down and chair-rise motions for a humanoid robot

Pchelkin, Stepan; Shiriaev, Anton S.; Freidovich, Leonid B.; Mettin, Uwe; Gusev, Sergei V.; Кwon, Wook Hyun

doi:10.1109/cdc.2010.5717358

Cited by 11 publications

(5 citation statements)

References 6 publications

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“…STS motion for TIP were performed using the (3) to 6 to find torque for TIP during phase 1 and 3 : (6) where F and C is the force and couple vectors supplied by the model's actuator, while m is the mass, l indicates the link versor, 9 is for the gravity, J is the inertia matrix, w is the angu�ar velocity, acorn is the acceleration of center of mass, at and 8s (see Fig 3 and 4) angular velocity on the joints.…”

Section: A Telescopic Inverted Pendulummentioning

confidence: 99%

Investigating the relationship between TIP and three-link models when the mass are varied

Ghazali

Miskon

Ali

et al. 2015

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)

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In Humanoid robotics field, capability to perform any task that imitates human movement has been the major research focus. One of the critical movements is the Sit to Stand (STS) motion. STS motion can be predicted using three-link (3L) robot inverse kinematic and dynamic model. 3L multi segments is quite complicated and requires high computational resources to calculate. Telescopic Inverted Pendulum ( TIP ) is another model that much simpler for planning and analyzing humanoid robot since it represent whole body with one single link. However it is not clear whether TIP can represent 3L multi segment robot yet. Thus, this paper objective is to find the relationship between TIP and 3L model when the mass is varied. To do so, simulation setup for 3L and TIP model is developed using MAT LAB. The torque values at each joint are observed to obtain the relationship between mass and the torque. The results show that both TIP and 3L model give a similarity result where mass and torque change in linear. For every drop of mass, the torque is also decrease.

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Section: A Telescopic Inverted Pendulummentioning

confidence: 99%

Investigating the relationship between TIP and three-link models when the mass are varied

Ghazali

Miskon

Ali

et al. 2015

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)

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“… Mistry et al (2010) used motion capture recorded StS motions from human subjects and mapped the marker-data trajectory to the Carnegie Mellon/Sarcos humanoid robot using inverse kinematics. Pchelkin et al (2010) also used analyzed human motion as a basis from which various constraints are initially derived. Starting from the angle at the ankle, the other joint angles of the knee and hip are derived using a cubic polynomial.…”

Section: Introductionmentioning

confidence: 99%

Optimization of Dynamic Sit-to-Stand Trajectories to Assess Whole-Body Motion Performance of the Humanoid Robot REEM-C

2022

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To enable the application of humanoid robots outside of laboratory environments, the biped must meet certain requirements. These include, in particular, coping with dynamic motions such as climbing stairs or ramps or walking over irregular terrain. Sit-to-stand transitions also belong to this category. In addition to their actual application such as getting out of vehicles or standing up after sitting, for example, at a table, these motions also provide benefits in terms of performance assessment. Therefore, they have long been used as a sports medical and geriatric assessment for humans. Here, we develop optimized sit-to-stand trajectories using optimal control, which are characterized by their dynamic and humanlike nature. We implement these motions on the humanoid robot REEM-C. Based on the obtained sensor data, we present a unified benchmarking procedure based on two different experimental protocols. These protocols are characterized by their increasing level of difficulty for quantifying different aspects of lower limb performance. We report performance results obtained by REEM-C using two categories of indicators: primary, scenario-specific indicators that assess overall performance (chair height and ankle-to-chair distance) and subsidiary, general indicators that further describe performance. The latter provide a more detailed analysis of the applied motion and are based on metrics such as the angular momentum, zero moment point, capture point, or foot placement estimator. In the process, we identify performance deficiencies of the robot based on the collected data. Thus, this work is an important step toward a unified quantification of bipedal performance in the execution of humanlike and dynamically demanding motions.

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“…Hand-crafted trajectories are applicable when only a few joint trajectories are needed, such as with simplified models; of course, they may not take full advantage of the exoskeleton's capabilities. The use of dynamic movement primitives [15] or optimization methods such as the minimum jerk criterion [17], [30], constrained optimization [32], [33], or genetic algorithms [14], [34], have been employed to address the disadvantages of other methods. For instance, a constrained optimization problem can ensure that a designed sit-to-stand motion explicitly accounts for torque bounds.…”

Section: Introduction a Motivationmentioning

confidence: 99%

Feedback Control Design for Robust Comfortable Sit-to-Stand Motions of 3D Lower-Limb Exoskeletons

Mungai

Grizzle

2021

IEEE Access

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Natural sit-down and chair-rise motions for a humanoid robot

Cited by 11 publications

References 6 publications

Investigating the relationship between TIP and three-link models when the mass are varied

Investigating the relationship between TIP and three-link models when the mass are varied

Optimization of Dynamic Sit-to-Stand Trajectories to Assess Whole-Body Motion Performance of the Humanoid Robot REEM-C

Feedback Control Design for Robust Comfortable Sit-to-Stand Motions of 3D Lower-Limb Exoskeletons

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