Abstract
Humanoid Robotics is a new and challenging research field which received significant attention since 1970s and will continue to play a central role in robotics research and in many applications of the 21 century. Regardless of the application area, one of the common problem tackled in humanoid robotics is the understanding of human like information processing and the underlying mechanism of the human brain in dealing with the real world. Considerable progress have been made in humanoid research resulting in a number of humanoid robots able to move and perform well designed tasks. Over the past decade in humanoid research, an emerging spectrum of science and engineering has emerged that leads to the development of highly advanced
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Many researchers have contributed to biped locomotion on dynamic modeling, control, and gait synthesis and stability analysis. Among which, dynamic modelling is the basis in the study of a bipedal walking.
In [13] a dynamic model including the both Double support phase & single support phase and double impact are developed for the five link biped robot. Lagrangian formulations are used for deriving dynamic equations of Single support phase and double support phase. To solve the multiplier in double support dynamic equations, pseudo Jacobian will be formulated due to non-square Jacobian matrix. For the dynamic of impact, both the integration method and Newtonian method are used but only the detailed derivation using the Newtonian method is presented and the results from both the method are to be compared.
A bipedal robot has mechanism of movement as a human and it has capacity to operate in environments containing different kind of obstacles. However the dynamic of biped robot are highly nonlinear, complex and unstable. It is difficult to generate a human like bipedal motion. ZMP help to synthesize the walking patterns of biped robots and demonstrate a walking motion with actual robots. The ZMP point out dynamic stability of a biped
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The prototype, name RABBIT, has four independent actuators; the axis between the torso and each thigh is actuated as is the axis of each knee. The actuator have been sized so that robot speeds compare well with the capabilities of humans. Many of the technical considerations that went into the design of the robot are summarized in [16]. The principal motivations for constructing the prototype were to study modelling, determination of optimal trajectories, limit cycles, stabilization of trajectories and the transition between walking running.
Conclusion
It is possible to convert a inadmissible path into admissible by changing the pattern parameters
ZMP is practically demonstrated in WL-10RD family of robots. Since then it is used in anthropomorphic systems and its stability is studied from different prospective including mathematical.
ZMP error in the trajectory generation can be reduce by an adjustment in the height of Center of Gravity. To change the height we change the parameters in the inverted pendulum mode.
In case of un-nominal walk of the robot, effects of un-nominal motion can be studied by changing the hip parameters. To reduce the weight on the hip joint with respect to minimum energy consumption we required to keep the hip at a high
All of the subjects were equipped with total quadrilateral socket, a constant friction single axis knee joint and a solid ankle cushion heel foot prosthetic. The prior and post training measurements taken were the percentage of weight bearing on the amputated side and temporal distance of gait based on footprints. The training in the TPT group consisted of weight shifting, dynamic balance exercises, braiding, stool stepping, ascending/descending stairs and gait exercises. The PNF group training included the free dynamic balance exercises of the traditional group along with static balance exercises. When the subject was performing the balance exercises the physical therapist would apply resistance in an antagonistic direction.
Our foramen magnum is positioned under our neck which enables us to walk upright while look ahead. (Wayman 2013). There are many other adaptations that have occurred which work together to form bipedal locomotion which allows humans to walk on two feet, but working from a skeleton alone is not always as easy to define a prehistorically hominin from another anthropoid ape (Dunsworth 2010). The main distinguishing character which would be evidence for bipedal locomotion therefore is the size of our brains which is much larger than other primates. Modern humans have a very high encephalization quotient (Antón, Potts & Aiello
Norby is the chief protagonist in the Norby Chronicles series of novels by Isaac Asimov. Norby made his first appearance when he the 1983 published title Norby the Mixed Up Robot and went on to be the lead in eleven more tiles. While Janet Asimov wrote about 90% of the novel, Isaac Asimov polished some parts of the work and added his name to enhance sales. The Norby character was originally a robot that had been brought into being by another robot known as Mentor First on an interstellar planet.
For our survival, we would do anything, even if it means transforming our way of life. The exploitation of new movement has been possible due to emergence of new tools. (Steele, 2011) As studied in Evolutionary Anthropology class, the ability for primates to walk bipedally isn’t a coincidence. It is proof of the adaptations we had to encounter as we fought to survive many obstacles over the years.
Ursela LeGuin’s Direction of the Road is a short story detailing the primary events of an Oak tree’s life. The Oak tree creates a bridge into their own world for the reader by using speculative fiction to help provide insight on their perspective. Throughout the paper, Leguin anthropomorphizes the Oak tree by giving them common human characteristics so the reader will realize that the Oak tree can conceptualize and has feelings. The discourse of the story follows a linear trend that reveals the plot as the story progresses.
Hominids had to adapt to survive. One of the physical adaptions that gave hominids an advantage was bipedalism. This occurred because of environmental changes. According to Pollard, Rosenberg and Tignor. The world was experiencing its forth ice age.
Humans use bipedal locomotion, yet there was a time in our ancestral history where a different mode of locomotion existed, which gives rise to the controversy introduced in this paper. Roughly 2.5 m.y.a. (million years ago), Homo habilis evolved from our closest ancestors, chimpanzees and gorillas giving us the first known genus Homo. Around 1.9 m.y.a. , and approximately 600 thousand years following the evolution of Homo species, a differentiation in gait occurred where; according to some, Homo erectus began running to acquire prey.
The adaption of bipedalism caused the skeleton of hominins to change in order to make bipedalism even more advantageous for hominins. An upright posture is one of the many changes that take effect and it generates other advantages for hominins as well.
PURPOSE The goal of this lab was to build a mousetrap powered car. The mousetrap car needed to travel fifteen feet. The purpose of building these mousetrap cars was to demonstrate our knowledge of motion, friction, force, distance, and energy. We have studied these concepts, and each one is a factor in the success of a mousetrap car.
Robot-assisted therapy is being used more frequently in various aspects of therapy. Robot-assisted therapy is the use of robotic devices that have been tailored in assisting various specific sensorimotor functions. Robot-assisted therapy uses the various robotic equipment only for short amount of times during therapy sessions. The purpose of the robotics is not to replace what used to happen by muscle movement as assistive devices, but instead to help the person regain their independent movement without the use of the robotics (Mehrholz, Hädrich, Platz, Kugler & Pohl, 2012). Robot-assisted therapy is used mostly with patients who have had a stroke that left them with partial, reduced or no arm function.
With attention to Lucy, bipedalism is a unique quality that links us to the evolution of humans and who we are today. One of the earliest human trains discovered was bipedalism, which meant they possessed the ability to walk on two legs and it became a regular basis. This evolved over 4 million years. The oldest evidence of humans walking on two legs come from the remains of Sahelanthropus. Since it was bipedal, it helped this species survive in diverse habitats (“Walking Upright”).
Adaptations require a reproductive advantage to become fixed in a population. Bipedality has many negative factors including increased risk of injury, decreased speed and agility, and the inability to cooperatively carry infants. Considering these drawbacks of bipedality, there had to be an extreme selective pressure to adapt bipedality. Ape populations declined as the Miocene progressed, except for hominids. This was a result of the Miocene apes becoming increasingly K-selected.
Studies show that walking on two legs requires less energy and is therefore more advantageous to the hominid. A study was done to assess the energy level of chimps when walking on a treadmill, on two and four legs. The results displayed that walking on four legs required 75% more energy than walking on two, thus confirming the theory that it is more effective and
As technology and robotics progress, people continue to debate how jobs and careers could be affected. Robotic replacement might not have a negative effect , especially since it has helped our development to be able to survive. The process of the robotic development started in the industrial age. The industrial age is known for “a period in which fundamental changes
Stands on tiptoe. Kicks a ball. Climbs onto and down from furniture without support. Walks up and down stairs with support.