Prototype Model of Walking Robot

Mikołajczyk, Tadeusz; Fas, Tomasz; Malinowski, Tomasz; Romanowski, Łukasz

doi:10.4028/www.scientific.net/amm.613.21

Cited by 9 publications

(10 citation statements)

References 7 publications

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“…One of the challenges in two-legged robots is the execution of twists and turnaround motions. The new innovative solution of walking mechanism-which is not based on human gait as most solutions of two-legged walking robots-was presented by Mikołajczyk et al [131][132][133][134]. This new walking mechanism uses two parallel legs sliding in corps and is equipped with swivel feet as shown in Figure 1.…”

Section: Synthetic Bipedal Walking Robots (Sbwr)mentioning

confidence: 99%

“…It is a result of the number of DOFs. On the other hand, the developed synthetic walking mechanism for a bipedal walking robot with swivel feet [131][132][133][134] does not require a complicated control system due to the use of a small number of DOFs and its static stabilization method. The 3 DOFsRotoFoot robot requires three drives combined with three potentiometers-based position sensors for closed-loop control ϕ, α R and α L α angles.…”

Section: Comparison Of Known Modern Bipedal Robots Based On Human or ...mentioning

confidence: 99%

“…Innovative walking robots with swivel feet [131][132][133][134] with very simple kinematics provide excellent manoeuvrability (3 DOFs) and also the ability to climb stairs in the 4 DOFs version; • A two-legged robot called SLIDER [135,136], which uses a sliding joint in each leg to replace the knee-hip rotary motion that is used in nature for leg lifting;…”

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confidence: 99%

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Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Mikołajczyk

Mikołajewska

Al-Shuka

et al. 2022

Sensors

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Currently, there is an intensive development of bipedal walking robots. The most known solutions are based on the use of the principles of human gait created in nature during evolution. Modernbipedal robots are also based on the locomotion manners of birds. This review presents the current state of the art of bipedal walking robots based on natural bipedal movements (human and bird) as well as on innovative synthetic solutions. Firstly, an overview of the scientific analysis of human gait is provided as a basis for the design of bipedal robots. The full human gait cycle that consists of two main phases is analysed and the attention is paid to the problem of balance and stability, especially in the single support phase when the bipedal movement is unstable. The influences of passive or active gait on energy demand are also discussed. Most studies are explored based on the zero moment. Furthermore, a review of the knowledge on the specific locomotor characteristics of birds, whose kinematics are derived from dinosaurs and provide them with both walking and running abilities, is presented. Secondly, many types of bipedal robot solutions are reviewed, which include nature-inspired robots (human-like and birdlike robots) and innovative robots using new heuristic, synthetic ideas for locomotion. Totally 45 robotic solutions are gathered by thebibliographic search method. Atlas was mentioned as one of the most perfect human-like robots, while the birdlike robot cases were Cassie and Digit. Innovative robots are presented, such asslider robot without knees, robots with rotating feet (3 and 4 degrees of freedom), and the hybrid robot Leo, which can walk on surfaces and fly. In particular, the paper describes in detail the robots’ propulsion systems (electric, hydraulic), the structure of the lower limb (serial, parallel, mixed mechanisms), the types and structures of control and sensor systems, and the energy efficiency of the robots. Terrain roughness recognition systems using different sensor systems based on light detection and ranging or multiple cameras are introduced. A comparison of performance, control and sensor systems, drive systems, and achievements of known human-like and birdlike robots is provided. Thirdly, for the first time, the review comments on the future of bipedal robots in relation to the concepts of conventional (natural bipedal) and synthetic unconventional gait. We critically assess and compare prospective directions for further research that involve the development of navigation systems, artificial intelligence, collaboration with humans, areas for the development of bipedal robot applications in everyday life, therapy, and industry.

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Section: Synthetic Bipedal Walking Robots (Sbwr)mentioning

confidence: 99%

Section: Comparison Of Known Modern Bipedal Robots Based On Human or ...mentioning

confidence: 99%

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Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Mikołajczyk

Mikołajewska

Al-Shuka

et al. 2022

Sensors

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“…In [22] an optimization problem of placement of a simple two-link planar manipulator by using a genetic algorithm is presented. The problem of optimization the trajectories between 2 positions (configurations) from an application was studied and solved in [20][21][22][23][24][25][26][27][28].…”

Section: Introductionmentioning

confidence: 99%

Optimization of the Robot's Position Base Point by Using the Proper Algorithm and Iterative Pseudo Inverse Jacobian Neural Network Matrix Method

Olaru

Mihai³

et al. 2016

AMM

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In the robotized production one of the more important think is to choose the optimal solution to use the robots with respect an objective function which represents, for example, minimum time of motion during a application, or minimum consumption of energy, or maximum precision, or combination of these. Some objective functions could results from the specificity of the application like is the case of casting of forging, where the minimum of the accumulation of heat could be one of the optimization criteria. In the controlling of the space movement of the end effecter and the robot’s joints of the all robots from the applications, one of the most important think is to know, with the extreme precision, the joints relative displacements of all robots. One of the most precise method to solve the inverse kinematics problem in the robots with redundant chain is the complex coupled method of the neural network with Iterative Pseudo Inverse Jacobian Matrix Method. In this paper was used the proper coupled method Iterative Pseudo Inverse Jacobian Matrix Method (IPIJMM) with Sigmoid Bipolar Hyperbolic Tangent Neural Network with Time Delay and Recurrent Links (SBHTNN-TDRL) to establish the optimal position of the application point of the robot's base with respect simultaneously two objective functions: the extreme precision and the minimum of the movements time. The paper shown how can be changed the multi robots application in to one application with parallel robot structure with three independent robots, all of them with optimal location point with respect the obiective function. The presented method and the virtual instrumentations (VI) are generally and they can be used in all other robots application and for all other conventional and unconventional space curves.

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“…All obtained results for only one robot were verified by applying the internal coordinates file to the each DC motor of the used arm type robot with open chain, with 4 Degree of Freedom (DOF), DC motors and Gecko drive GK330 in each joints and the controlling with acquisition board PCIe 6221. Some know methods to solve the inverse kinematics are Gradient Method (GM), Jacobian Matrix Method (JMM), Pseudo Inverse Jacobian Matrix Method (PIJMM), Gradient Projection Method (GPM), Inverse Jacobian Inertia Matrix Method (IJIMM), Neural Network Coupled Method with some other numerical methods (NNCM) or many other coupled methods [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16]. The solution of the inverse kinematics problem is computationally expansive and generally takes a very long time (Kucuk& Bingul, 2004) [1], (De Wit & Siciliano,1996) [2], (Jingguo Wang, Yangmin Li, Xinhua Zhao, 2010) [3], (P.J.Alsina & N.S.Gehlot,1994) [4], (Manseur & Keith,1998) [5], (Li-Chun Wang & Chin Cheng Chen,1991) [6], (Welman,1989) [7], (Gorinevsky & Connoly, 2001) [8], or some complex coupled method with neural networks (Lee, Schittenkopf, Olaru, Mikolajczyk) [9][10][11][12][13][14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Controlling of the 3D Space Trajectory of the Multi Robots Applications by Using the Proper Iterative Pseudo Inverse Jacobian Neural Network Matrix Method

Olaru

Mihai³

et al. 2016

AMM

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In many applications we used the multi robots with the central coordination of the 3D space trajectory. In the controlling of the space movement of the end effecter of the all robots from this type of applications and the robot’s joints one of the most important problem is to solve the forward and inverse kinematics, that is different from the single robot application. It is important to know with the extreme precision the joints relative displacements of all robots. One of the most precise method to solve the inverse kinematics problem in the robots with redundant chain is the complex coupled method of the neural network with Iterative Jacobian Pseudo Inverse method. In this paper was proposed and used the proper coupled method Iterative Pseudo Inverse Jacobian Matrix Method (IPIJMM) with Sigmoid Bipolar Hyperbolic Tangent Neural Network with Time Delay and Recurrent Links (SBHTNN-TDRL). The paper contents the mathematical matrix model of the forward kinematics of multiple robots applications, mathematical model of the proper iterative algorithm and all proper virtual LabVIEW instrumentation, to obtain the space conventional and unconventional curves in different Euller planes for one case study of three simultaneously robots movement with extreme precision of the end-effecter less than 0.001mm. The paper shown how can be changed the multi robots application in to one application with parallel robot structure with three independent robots. The presented method and the virtual instrumentations (VI) are generally and they can be used in all other robots application and for all other conventional and unconventional space curves.

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Prototype Model of Walking Robot

Cited by 9 publications

References 7 publications

Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Optimization of the Robot's Position Base Point by Using the Proper Algorithm and Iterative Pseudo Inverse Jacobian Neural Network Matrix Method

Controlling of the 3D Space Trajectory of the Multi Robots Applications by Using the Proper Iterative Pseudo Inverse Jacobian Neural Network Matrix Method

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