Aiman Musa M Omer

Development of a humanoid robot having 2-DOF waist and 2-DOF trunk

A new humanoid robot capable of various motion is proposed in this paper, which has a 2 DOF waist and 2 DOF trunk. A new upper body mechanism is mounted on a leg machine, WABIAN2/LL, and a full scale humanoid robot, WABIAN-2, is constructed in this study. Its trunk is designed to bend forwards, backwards and sideways and rotate in combination with a 2-DOF waist. Also, the upper body is designed in way that makes it able to use a walk-assist machine. Basic walking experiments with and without a walk-assist machine are conducted, and the effectiveness of the mechanism of WABIAN-2 is confirmed

Development of walking support system based on dynamic simulation

The humanoid bipedal robot WABIAN-2R was developed to be used as human motion simulator. It is able to perform similar human-like walking motion. Moreover, the robot is able to perform walking motions with a walking support device. This walking device was moving passively helping the robot to move easily. However, to go further with this development, we have to test the robot using the walking device with different conditions such as activating its wheel motors. Conducting this experiment is expected to be highly risky and costly. Therefore, we had developed a dynamic simulator in order to test the performance of the robot using the walking support device before conducting it in real simulation.

Stretched knee walking with novel inverse kinematics for humanoid robots

A four degrees of freedom (DoF) waist and trunk mechanism, as well as human-like foot, enable the humanoid robot WABIAN-2R to perform human-like walk with stretched knees, and heel-contact and toe-off gait phases. The inverse kinematics (IK) method, used in the present system, requires specification of not only task space reference trajectories, but also reference trajectories for all redundant DoFs. In this paper, we propose a novel, unified inverse kinematics method significantly simplifying the pattern generation. The method enables generation of the above described gait by specifying only the task space trajectories. We divide the forward locomotion task into subtasks with different priorities and combine them in the single IK equation. We also perform experiments in simulation environment as well as on WABIAN-2R, which prove that the method can be used to calculate IK for human-like gait. The equation evaluated in this paper is applied to the forward locomotion task, however it can be easily modified to perform other tasks on humanoid robots with different kinematic structures.

Semi-passive dynamic walking for biped walking robot using controllable joint stiffness based on dynamic simulation

The bipedal humanoid robot WABIAN-2R is developed to simulate human locomotion. Performing a walking motion requires a high torque at the ankle joint. WABIAN-2R consists of harmonic gears in its driveline system which increases the weight of each leg and respectively decreases the energy economy. However, using a spring mechanism instead of high gear ratio transmission could decrease the energy used during walking motion. Therefore, the idea of installing the dynamic walking techniques to WABIAN-2R is proposed. Using computer simulation the design of the ankle joint is modified by adding a spring mechanism and controlled by twisting the joint to set the required torque. Based of dynamic simulation an important step toward developing the passive dynamics walking into the advanced complex humanoid robots is been purposed.

Semi-passive dynamic walking for humanoid robot using controllable spring stiffness on the ankle joint

The bipedal humanoid robot WABIAN-2R is developed to simulate human locomotion. Performing a walking motion requires a high torque at the ankle joint. WABIAN-2R consists of harmonic gears in its driveline system which increases the weight of each leg and respectively decreases the energy economy. Therefore, a new idea is proposed and developed in this paper through computer simulation to modify the design of the ankle joint by adding a spring mechanism instead of high gear ratio transmission. The spring stiffness could be controlled by twisting the joint to set the required torque. This helps reduce the energy consumed while walking; by storing and returning part of the energy. Research presented in this paper proposes an important step toward developing the passive dynamics walking into the advanced complex humanoid robots.

Study of Bipedal Robot Walking Motion in Low Gravity: Investigation and Analysis

Humanoid robots are expected to play a major role in the future of space and planetary exploration. Humanoid robot features could have many advantages, such as interacting with astronauts and the ability to perform human tasks. However, the challenge of developing such a robot is quite high due to many difficulties. One of the main difficulties is the difference in gravity. Most researchers in the field of bipedal locomotion have not paid much attention to the effect of gravity. Gravity is an important parameter in generating a bipedal locomotion trajectory. This research investigates the effect of gravity on bipedal walking motion. It focuses on low gravity, since most of the known planets and moons have lower gravity than earth. Further study is conducted on a full humanoid robot model walking subject to the moons gravity, and an approach for dealing with moon gravity is proposed in this paper.

Initial Study of bipedal robot locomotion approach on different gravity levels

Humanoid robots are becoming an important factor for the future work. Future planes are made for the use of humanoid robots for space and planetary exploration application. The development of humanoid robot to work in such environment for the purpose of human assisting is becoming highly demanded. The challenge of developing a bipedal robot to walking on other planets and moons is really high due the different in gravity compare to earth. The difference in the gravity might have a great effect on the robot locomotion. In order to know this effect some basic study needed to be conducted. This research studies the effect of different gravity on the locomotion. The approach for dealing for the different gravity is purposed in this study.

Semi-Passive Dynamic Walking Approach for Bipedal Humanoid Robot Based on Dynamic Simulation

The research on the principles of legged locomotion is an interdisciplinary endeavor. Such principles are coming together from research in biomechanics, neuroscience, control theory, mechanical design, and artificial intelligence. Such research can help us understand human and animal locomotion in implementing useful legged vehicles. There are three main reasons for exploring the legged locomotion. The first reason is to develop vehicles that can move on uneven and rough terrain. Vehicles with wheels can only move on prepared surfaces such as roads and rails; however, most surfaces are not paved. The second reason is to understand human and animal locomotion mechanics. The study of the mechanisms and principles of control found in nature can help us develop better legged vehicles. The third reason which motivated the study of legged locomotion is the need to build artificial legs for amputees. Although some effective artificial legs have been built to date, more indepth research is required to fully understand the mechanisms and movements necessary to substitute the actual limbs. The research in this paper concerns a group of legged robots known as bipedal walking robots. Research on this subject has a long history; however, it is only in the last two decades that successful experimental prototypes have been developed. The vast majority of humanoid and bipedal robots control the joint angle profiles to carry out the locomotion. Active walking robots (robots with actuators) can do the above task with reasonable speed and position accuracy at the cost of high control efforts, low efficiencies, and most of the time unnatural gaits. WABIAN-2R is among the most successful bipedal walking humanoid robots. In spite of the extensive research on humanoid robots, the actions of walking, running, jumping and manipulation are still difficult for robots. Passive-dynamic walking robots have been developed by researchers to mimic human walking. The main goal of building passive-dynamic walking robots is to study the role of natural dynamics in bipedal walking. Passive-dynamic walkers use gravitational energy to walk down a ramp without any actuators. They are energy efficient but have weak stability in the gait. In addition, the major cause of the energy loss in the current passive-dynamic

Simulation of semi-passive dynamic walking for biped walking robot

The bipedal humanoid robot WABIAN-2R is developed to simulate human locomotion. Performing a walking motion requires a high torque at the ankle joint. WABIAN-2R consists of harmonic gears in its driveline system which increases the weight of each leg and respectively decreases the energy economy. Therefore, a new idea is proposed and developed in this paper through computer simulation to modify the design of the ankle joint by adding a spring mechanism instead of high gear ratio transmission. This helps reduce the energy consumed while walking; by storing and returning part of the energy. Research presented in this paper proposes an important step toward developing the passive dynamics walking into the advanced complex humanoid robots.

Dynamic-based simulation for humanoid robot walking using walking support system

A new humanoid bipedal robot WABIAN-2R was developed to simulate human motion. WABAIN-2R is able to perform similar human-like walking motion. Moreover, the robot is able to perform walking motions with a passive walk-assist machine. However, walking with an active walk-assist machine is expected to be unstable. Conducting this experiment is highly risky and costly. Therefore, we had developed a dynamic simulator in order to test walking robot with walk-assist machine before conducting it in real simulation.