Humanoid Robot Design

2013 ◽  
pp. 367-375
Author(s):  
Xueling Zhao ◽  
Shouquan Bian ◽  
Liguo Hao ◽  
Peng Zhao
Keyword(s):  
Humanoid Robot ◽  
Robot Design

Mechatronic Design of ARC Humanoid Robot Open Platform: First Fully 3D Printed Kid-Sized Robot

2020 ◽  
Vol 17 (03) ◽  
pp. 2050010
Author(s):  
Saeed Saeedvand ◽  
Hadi S. Aghdasi ◽  
Jacky Baltes
Keyword(s):  
Humanoid Robot ◽  
Size Range ◽  
Robot Design ◽  
3D Printer ◽  
Wide Angle ◽  
Open Platform ◽  
3D Printed ◽  
Wide Angle Camera ◽  
Computational Resources ◽  
User Friendly

Although there are several popular and capable humanoid robot designs available in the kid-size range, they lack some important characteristics: affordability, being user-friendly, using a wide-angle camera, sufficient computational resources for advanced AI algorithms, and mechanical robustness and stability are the most important ones. Recent advances in 3D printer technology enables researchers to move from model to physical implementation relatively easy. Therefore, we introduce a novel fully 3D printed open platform humanoid robot design named ARC. In this paper, we discuss the mechanical structure and software architecture. We show the capabilities of the ARC design in a series of experimental evaluations.

A soccer playing humanoid robot: Design, algorithm and prototype

2014 ◽  
Author(s):  
S. Mohammadi ◽  
H. A. Talebi ◽  
M. A. Soleimani ◽  
M. Mirsalim ◽  
S. Asgari
Keyword(s):  
Humanoid Robot ◽  
Robot Design ◽  
Design Algorithm

scholarly journals Detection of Humanoid Robot Design Preferences Using EEG and Eye Tracker

2019 ◽  
Author(s):  
Yisi Liu ◽  
Fan Li ◽  
Lin Hei Tang ◽  
Zirui Lan ◽  
Jian Cui ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Robot Design ◽  
Eye Tracker ◽  
Design Preferences

An Anthropometric Arm for the Humanoid Robot: Design and Analysis of the Tyche-Arm

2002 ◽  
Author(s):  
T. C. Yih ◽  
Madhu V. Shurpali ◽  
Sankar Pemmaraju
Keyword(s):  
Humanoid Robot ◽  
Fault Tolerant ◽  
Control Device ◽  
Weight Lifting ◽  
Robot Design ◽  
Robot Arm ◽  
Kinematic Parameters ◽  
Axial Forces ◽  
Human Arm ◽  
Dynamic Analyses

This paper is concerned with the development of an anthropometric robot arm for the humanoid robot – Tyche. The design was based on physiology and anthropometry of the human arm. The Tyche-arm uses a skew-pantograph mechanism, as the control device, that helps in magnifying the input. The link lengths of the structure are determined based on topological studies and avoidance of the singularity condition. A fault tolerant design for the linear actuator is incorporated in the design. The kinematic and dynamic analyses of the Tyche-arm are performed on the weight lifting activity, with the upper arm fixed in five different positions. The kinematic parameters, axial forces in the links and the torques for each joint are obtained and plotted with respect to time.

CONCEPT AND DESIGN OF THE BIOBIPED1 ROBOT FOR HUMAN-LIKE WALKING AND RUNNING

2011 ◽  
Vol 08 (03) ◽  
pp. 439-458 ◽  
Author(s):  
KATAYON RADKHAH ◽  
CHRISTOPHE MAUFROY ◽  
MORITZ MAUS ◽  
DORIAN SCHOLZ ◽  
ANDRE SEYFARTH ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Human Locomotion ◽  
Robot Design ◽  
Feedback Controls ◽  
Biologically Inspired ◽  
New Approach ◽  
Locomotor System ◽  
Ankle Joints ◽  
Muscle Groups ◽  
And Control

Biomechanics research shows that the ability of the human locomotor system depends on the functionality of a highly compliant motor system that enables a variety of different motions (such as walking and running) and control paradigms (such as flexible combination of feedforward and feedback controls strategies) and reliance on stabilizing properties of compliant gaits. As a new approach of transferring this knowledge into a humanoid robot, the design and implementation of the first of a planned series of biologically inspired, compliant, and musculoskeletal robots is presented in this paper. Its three-segmented legs are actuated by compliant mono- and biarticular structures, which mimic the main nine human leg muscle groups, by applying series elastic actuation consisting of cables and springs in combination with electrical actuators. By means of this platform, we aim to transfer versatile human locomotion abilities, namely running and later on walking, into one humanoid robot design. First experimental results for passive rebound, as well as push-off with active knee and ankle joints, and synchronous and alternate hopping are described and discussed. BioBiped1 will serve for further evaluation of the validity of biomechanical concepts for humanoid locomotion.

Design and analysis of a pneumatic muscle driven parallel mechanism for imitating human pelvis

2013 ◽  
Vol 228 (4) ◽  
pp. 723-741 ◽  
Author(s):  
Xingwei Zhao ◽  
Bin Zi
Keyword(s):  
Parallel Mechanism ◽  
Humanoid Robot ◽  
Kinematic Model ◽  
Ideal Gas ◽  
Euler Method ◽  
Parallel Structure ◽  
Robot Design ◽  
Pneumatic Muscle ◽  
Ideal Gas Law ◽  
Mechanics Analysis

Dynamic modeling and mechanics analysis of a novel pneumatic muscle driven parallel mechanism for imitating human pelvis (PMPMHP) is investigated. The PMPMHP has some advantages for both parallel structure and pneumatic muscle actuator. To begin with, the kinematic model of the PMPMHP is introduced and the dimensions of the PMPMHP are optimized by using genetic algorithm. Then, the dynamic model is developed on the basis of Newton–Euler method and ideal gas law. After that the workspace, singularity and stiffness of the PMPMHP are analyzed. At the end, simulation results indicate the feasible operation performances of the PMPMHP. This mechanism can be further utilized either for rehabilitation therapy of human pelvises or for humanoid robot design of the pelvis part.

scholarly journals Humanoid Robot: Design and Fuzzy Logic Control Technique for Its Intelligent Behaviors

10.5772/37188 ◽  
2012 ◽  
Author(s):  
Elmer P. ◽  
Jazper Jan C. Biliran ◽  
Ron-Ron G. ◽  
D. Johnson ◽  
Adranne Rachel B. Valenci
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Control ◽  
Humanoid Robot ◽  
Control Technique ◽  
Robot Design ◽  
Logic Control

scholarly journals Evaluation of Humanoid Robot Design Based on Global Eye-Tracking Metrics

2020 ◽  
Author(s):  
Fan Li ◽  
Danni Chang ◽  
Yisi Liu ◽  
Jian Cui ◽  
Shanshan Feng ◽  
...  
Keyword(s):  
Eye Tracking ◽  
Fixation Duration ◽  
Humanoid Robot ◽  
Approximate Entropy ◽  
Humanoid Robots ◽  
Human Robot Interaction ◽  
Robot Design ◽  
First Impression ◽  
Appearance Design ◽  
Robot Appearance

The first impression of robot appearance normally affects the interaction with physical robots. Hence, it is critically important to evaluate the humanoid robot appearance design. This study towards evaluating humanoid robot design based on global eye-tracking metrics. Two methods are selected to extract global eye-tracking metrics, including bin-analysis-based entropy and approximate entropy. The data are collected from an eye-tracking experiment, where 20 participants evaluate 12 humanoid robot appearance designs with their eye movements recorded. The humanoid robots are evaluated from five aspects, namely smartness, friendliness, pleasure, arousal, and dominance. The results show that the entropy of fixation duration and velocity, approximate entropy of saccades amplitude are positively associated with the subjective feelings induced by robot appearance. These findings can aid in better understanding the first impression of human-robot interaction and enable the eye-tracking-based evaluation of humanoid robot design. By combining the theory of design and bio-signals analysis, the study contributes to the field of Transdisciplinary Engineering.

scholarly journals The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors

2021 ◽  
Author(s):  
Matthew Chignoli ◽  
Donghyun Kim ◽  
Elijah Stanger-Jones ◽  
Sangbae Kim
Keyword(s):  
Motion Planning ◽  
Humanoid Robot ◽  
Robot Design ◽  
Planning And Control ◽  
And Control
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