A. P. Sudheer

Surface Electromyography Based Finger Flexion Recognition

Great effort is being taken since the last decade to make control interfaces for machines and robots less complicated and more natural, by taking signals directly from the body. This requires highly accurate signal interpretation. Researches have shown that electromyographic signals obtained from skeletal muscles can give very accurate information regarding limb movements, that can be used in human robot interface. In this paper, a novel approach toward classifying finger movements using surface Electromyography (sEMG) is discussed. Higuchi fractal dimensions and auto-regressive modeling are employed for extracting suitable features from a 6-channel EMG signal acquired indigenously using self-designed data acquisition hardware and classified using Multi Class Support Vector Machine. An average accuracy of 95.2% has been obtained.

Electromyography based control of robotic arm using entropy and zero crossing rate

With the increasing importance of robots in medical and industrial applications, the use of biological signals such as Electroencephalogram (EEG) and Electromyogram (EMG) for control of robots are being more sought for. In this paper, a novel method of robotic control using EMG signals is proposed. The user controls the robot using highly natural arm movements. This is done by attaching surface Electromyography (sEMG) electrodes to the users arm and the signals recorded are processed and used for control. Zero Crossing Rate and Shannon Entropy were the features used for classification and a robot was successfully controlled using EMG signals from three different muscles of the upper arm. Also, a simulated human model was controlled using the proposed system utilizing the extracted D-H parameters.

Robust trajectory tracking controller for 5 degree of freedom robotic manipulator

Kinematic and Dynamic models of Robotic manipulators are nonlinear in nature. Hence trajectory planning tracking and control has been a challenging issue in almost all obstacle avoidance problems. In trajectory planning and tracking, the designed trajectory needs to be followed for avoiding obstacles, damage of robots and end-effector tools. This paper proposes a robust controller for designed trajectory tracking of 5 Degree of freedom (DOF) phantom X pincher robotic manipulator with high nonlinearity and coupled dynamics. This paper also presents kinematic and dynamic modeling of robotic manipulator, trajectory planning and tracking using Proportional Integral Derivative (PID) and Sliding Mode Controller (SMC). The performance of the designed controllers are analyzed and compared through MATLAB Simulations.

Development of 4PRR-2P Hybrid Robotic System for Soft Material Cutting

This paper deals with the development of a hybrid robotic system with lesser cost and minimum floor space area for cutting soft materials focusing on small scale industries. A waterjet cutting system was developed as the end effector for this hybrid manipulator. The main objective is to develop a multi-purpose manipulator for cutting softer materials such as soap, sponge, leather, rubber, pastry items etc. Many of the food manufacturing industries are producing unhygienic product that can be efficiently and correctly performed with computer controlled systems that operate automatically at faster speed. The design and fabrication of the 4PRR-2P robotic system with waterjet as the end effector is explained in this paper. The soft material chosen in this work is cake. Hence, the quality measures are met pertaining to food industries.

Design and Implementation of GA Tuned PID Controller for Desired Interaction and Trajectory Tracking of Wheeled Mobile Robot

The paper presents the design and implementation of a PID control based trajectory tracking of a nonholonomic wheeled mobile robot (WMR) with the objective of matching desired time domain specification and specified interaction. The desired time domain specification of output Y(s) is represented as a step response of a second order system with designer specific desired damping ratio (ζ) and natural frequency (ωn). The problem of finding the unknown parameters of PID controllers is formulated in a genetic algorithm (GA) based optimization frame in which the objective is to minimize the difference between the response of the designed closed-loop system and that of the desired closed-loop system. This procedure has been illustrated for achieving the desired time domain specification for WMR, taking different settling time of output response. The interaction analyses are carried out using the concept of Relative Gain Array (RGA). The RGA for both the desired and designed closed-loop systems are found to be matching. It has shown that interaction parameter λ controls both the steady-state and transient response of the desired closed-loop system. The interaction parameter also acts as a parameter which controls the coupling and is chosen by the designer as a specification to be met by the designed closed-loop system with PID controller.

Android based augmented reality as a social interface for low cost social robots

Social robots are gradually populating the human space. The utility of such robots is enormous. They can have socially important functions like training for kids with autism and molding the character and behavior of kids. The human-like features of social robots tend to elicit and maintain and enhance positive emotions in a child. The conclusive aim of social robotics is to develop robots that can seamlessly interact with humans. Making them more anthropomorphic is one of the main tasks in designing them. A humanoid robot requires an enormous amount of compactness of all actuators and sensors for expressing anthropomorphic characters. The cost and laboring required to meet these are huge. Also, some of their facial expressions and body movements do not need any physical interaction with the real world. Here comes the need of virtual robots which have the capability of showing a higher level of anthropomorphism. This paper presents a novel method for designing a low-cost android based social robot by replacing the actuators in humanoid robots and implementing virtual avatars instead. The paper contributes a novel integration methodology which combines a mobile robotic base and a virtual character using augmented reality.

Controller Design for a Skid-Steered Robot and Mapping for Surveillance Applications

Skid-steered robots, with their robust structure and manoeuvrability, are generally used as outdoor mobile robots. Both kinematic and dynamic modelling of these robots is difficult due to sliding and rolling inherent in general curvilinear motion. In order to improve motion and pose estimation, this paper proposes a kinematic and dynamic model for skid-steered mobile robots. A PID controller, tuned using Genetic Algorithm, based on the dynamic model is then proposed for accurate control of the skid-steered robot. The dynamic model developed enables motion planning for general planar motion. The coefficient of rolling resistance, the coefficient of friction, and the shear deformation modulus, all of which have terrain-dependent values are accommodated in this model. Surveillance bots are of great importance in protecting and saving human life. In this context, mobile and multi-functional robots which map their surroundings are adopted as a means to reduce environmental restructuring and the number of devices used to cover a given area. Skid-steered robots are robust and, therefore, are ideal for surveillance applications.

Workspace Optimization of 3PRR Parallel manipulator for drilling operation using Genetic Algorithm

Manufacturing field is always focused on high productivity and higher flexibility machines. This can be achieved by the use of parallel manipulators. There are lots of advantages of Parallel robotic manipulators such as high load/weight ratio, velocity, stiffness, precision, and inertia. This work proposes a 3-DoF parallel manipulator for performing drilling operation whose workspace is optimized using Genetic Algorithm method. The workspace of the manipulator is analyzed and plotted in MATLAB software. The complete CAD model of the machine is designed in SOLIDWORKS software and the Motion analysis is also performed in order to trace the path of the tool. The proposed machine is fabricated and the drilling operation is performed in real time.

Design and Analysis of a Bio-inspired Flapping Wing Robot

Mankind borrowed the idea of flight after observing the real birds which flap their wings and sour in to greater heights. Since then it has always been a challenge for humans to imitate the same motion of flapping wings to fly. This has led to research in the development of a hassle-free mechanism for replicating the motion of birds and achieve stable flight. This paper mainly deals with the kinematic and dynamic analysis of building an Unmanned Aerial Vehicle (UAV) which mimics a bird. A conceptual design is initially introduced, which is then backed up by dimensional analysis of the links. stress analysis of gears, shafts and links; aerodynamic analysis of the profile of the wings and actuator selection. Dynamic torque and power calculation are also done and the simulation results are plotted in MATLAB.

Parameter optimization and experimentation of the undulating fin of a knife fish robot

The rising demand for an energy efficient and eco-friendly mode of underwater propulsion has led to the development of biomimetic robots that adopt the swimming modes of real fishes. This paper deals with the parameter optimization of the biomimetic fin of a knife fish robot. The optimization is done to enhance the capability of the robot to generate wide range of undulations. A knife fish robot was fabricated and tested in a pool for different types of waves. The response of each wave on the swimming performance of the robot was studied to obtain the maximum thrust generating wave.