Determination of kinematic parameters of a passive bipedal walking robot moving on a declined surface by image processing

• Autorzy: Bagheri A. , Alitavoli M. , Hajiloo A. , Basiri S. , Asadi H.
• Języki publikacji: EN

Abstrakty

EN

Purpose: This paper describes the design and manufacturing of the mechanisms that are able to move on a slope according to its gravity. Design/methodology/approach: After presenting the governing equations and the dynamics of the robot, a computer simulation is developed. A comparison between the results from the physical model and the results from the numerical simulation is done to check the validity of the project. Findings: This robot is able to move down on slope with a minimum tangent based on the gravity and without any controller or any supplier. Research limitations/implications: Image processing has blind nodes in some frames and can not determine node positions and at this paper a method for getting rid of that problem has been developed. Position accuracy depends on ability of processing unit. Practical implications: This method could be used for finding of kinematic parameters of each manipulator while moving. Originality/value: This paper describes a method for finding kinematic parameters of a passive robot by image processing.

Słowa kluczowe

EN

passive walking mechanism; collision dynamics; kneed walking model; kinematical parameters; digital image processing

PL

mechanizm pasywny chodzący; dynamika kolizji; parametry kinematyczne; przetwarzanie cyfrowe obrazów

• Wydawca: International OCSCO World Press
• Czasopismo: Journal of Achievements in Materials and Manufacturing Engineering
• Rocznik: 2006
• Tom: Vol. 16, nr 1-2
• Strony: 94--100
• Opis fizyczny: Bibliogr. 11 poz., rys., tab.

Twórcy

autor

Bagheri A.

• Department of Mechanical Engineering, University of Guilan, PO Box 3756 , Rasht, Iran

autor

Alitavoli M.

• Department of Mechanical Engineering, University of Guilan, PO Box 3756 , Rasht, Iran

autor

Hajiloo A.

• Department of Mechanical Engineering, University of Guilan, PO Box 3756 , Rasht, Iran

autor

Basiri S.

• Department of Mechanical Engineering, University of Guilan, PO Box 3756 , Rasht, Iran

autor

Asadi H.

• Department of Mechanical Engineering, University of Guilan, PO Box 3756 , Rasht, Iran

Bibliografia

• [1] T. McGeer, Passive walking with knees, Proceeding of the IEEE Conference on Robotics and Automation, 2:1645-16451, 1997.
• [2] M. Garcia, A. Ruina, A. Chaterjee, Efficiency and stability of 2-D passive dynamic kneed walking, ICRA98, 1998.
• [3] M. Garcia, A. Ruina, A. Chaterjee, M. Coleman, The simplest walking model: Stability, complexity, and scaling, Accepted for publication in the ASME Journal of Biomechanical Eng., 1997.
• [4] S. Collins, M. Wisse, A. Ruina, A Three-Dimensional Passive-Dynamic Walking Robot with Two Legs and Knees, The International Journal of Robotics Research, Vol. 20, No. 7, pp: 607-615, July 2001.
• [5] G. Yasuda, Distributed autonomous control of modular robot systems using parallel programming, Journal of Materials Processing Technology, Volume 141, Issue 3, 1 November 2003, Pages 357-364.
• [6] M. Garcia, A. Ruina, A, Chaterjee, Efficiency, Speed, and Scaling of 2D passive Dynamic Walking, Submitted to Dynamic and Stability of Systems July 29, 1998.
• [7] S. Kan, Y. Kushihashi, T. Honda, An over-rated control strategy for quick motion or tough supporting in robots, Journal of Materials Processing Technology, Volume 76, Issues 1-3, April 1998, Pages 133-139.
• [8] M. Garcia, Stability, Scaling and Chaos in Passive-Dynamic Gait Models, A Dissertation Presented to the Faculty of the Graduated School of Cornell University, January 1999.
• [9] W. R. Southern, C. G. Lyons, The study of a passive accommodation device in robotic insertion processes, Journal of Materials Processing Technology, Volume 124, Issue 3, 20 June 2002, Pages 261-266.
• [10] H. S. Lee, S. L. Chang, Development of a CAD/CAE/CAM system for a robot manipulator, Journal of Materials Processing Technology, Volume 140, Issues 1-3, 22 September 2003, Pages 100-104.
• [11] R. Kenneth Castleman, Digital Image Processing, Prentice Hall, New Jersey, 1996