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    Haekal Poster Inggris

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    Zaky Fachrur Rozi
    This document summarizes research on designing the walking movement of a bipedal anthropomorphic robot using inverse kinematics and human gait data. Researchers studied 6 joints of the human body to understand human walking patterns. Inverse kinematics was used to determine how to move the robot's legs based on human gait trajectory data collected from sensors. The results showed that human gait data could be used as motion parameters for a walking robot, though adjustments were needed due to differences in limb lengths between humans and robots.

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    Haekal Poster Inggris

    Uploaded by

    Zaky Fachrur Rozi
    12 views1 page
    This document summarizes research on designing the walking movement of a bipedal anthropomorphic robot using inverse kinematics and human gait data. Researchers studied 6 joints of the human body to understand human walking patterns. Inverse kinematics was used to determine how to move the robot's legs based on human gait trajectory data collected from sensors. The results showed that human gait data could be used as motion parameters for a walking robot, though adjustments were needed due to differences in limb lengths between humans and robots.

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    This document summarizes research on designing the walking movement of a bipedal anthropomorphic robot using inverse kinematics and human gait data. Researchers studied 6 joints of the human body to understand human walking patterns. Inverse kinematics was used to determine how to move the robot's legs based on human gait trajectory data collected from sensors. The results showed that human gait data could be used as motion parameters for a walking robot, though adjustments were needed due to differences in limb lengths between humans and robots.

    Copyright:

    © All Rights Reserved
    Download as DOC, PDF, TXT or read online from Scribd
    Download as doc, pdf, or txt
    12 views1 page

    Haekal Poster Inggris

    Uploaded by

    Zaky Fachrur Rozi
    This document summarizes research on designing the walking movement of a bipedal anthropomorphic robot using inverse kinematics and human gait data. Researchers studied 6 joints of the human body to understand human walking patterns. Inverse kinematics was used to determine how to move the robot's legs based on human gait trajectory data collected from sensors. The results showed that human gait data could be used as motion parameters for a walking robot, though adjustments were needed due to differences in limb lengths between humans and robots.

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    © All Rights Reserved
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    of 1

    DESIGN OF WALKING MOVEMENT ON BIPEDAL

    ANTROPOMORPHIC ROBOT USING INVERSE


    KINEMATICS AND GAIT DATA

    M Haekal Maulana, Dr. A. Arifin, ST., M.Eng.,Rudy Dikairono., ST., MT.

    Teknik Elektro, Fakultas Teknologi Industri, Instititut Teknologi Sepuluh Nopember (ITS)

    Jl. Arief Rahman Hakim, Surabaya 60111

    NRP 22 11 100 102 - Email: [email protected]

    ABSTRACT
    Robotics nowadays are demanded to be more adaptive dan able to do a lot of task at human works environment . The design of the
    robot itself need to have similiarity mechanism to human being especially in locommotion. It is important to have better knowledge of
    what kind of parameters and unique problem that human gait have.Lower limbs for example need to be studied in order to understand
    the nature of human walking pattern.6 joints of the human body was highlighted in this research according to the gait trajectory data
    we acquired from human gait data sensor.The human gait trajectory used as control parameters for the robot.Inverse kinematic was
    applied to determine the movement of the bipedal robot legs.

    Figure 2: Your caption to go here


    SYSTEM INTEGRATION
    DESIGN OF BIPEDAL ROBOT ROBOTS Kinematics MICROCONTROLLER STM32F4
    - We are using 3 motors on each - Forward Kinematics and - - STM32F4 ARM microcontroller is
    leg in this bipedal robotics system Inverse Kinematics are used to used as the main tool to control
    .There are 3 joints represents the hip determine the position the robot is equipped with
    joint ,knee joint and ankle joint.The (measured in degrees) and the supporting features shared with
    Servo motors are constructed movements of robot. 2MB of flash memory, 256 KB RAM
    according to the illustrated figure GAIT TRAJECTORIES
    - Human DATA
    gait data in the LQFP144 package
    were measured on
    the 3 joint,hip,knee
    Figure 3: Your caption to go here Quisque viverra
    lectus ac lectus
    and ankle
    respectively using
    the wearable
    sensors.

    RESULTS
    Inverse Kinematics and Gait
    Simulation

    Movements of the robot ,both


    picture shown the swinging move Trajectories data acquired

    CONCLUSION
    The results shown ,by using the value of the trajectory angles in humans can be used as a walking robot
    motion parameters, but the adjustment on the length of the arm of the subject need to be considered due to
    the difference in length which is owned by subjects.Data robot trajectory acquired on humans subject can be
    used also as a reference data for prosthetic technology based on robotic application.The results says, the
    movement is still less natural and still requires further research, but for his practical needs have been
    sufficient to meet the expected results.

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