Investigating the relationship between TIP and 3-link models when the links' length are varied

In the field of humanoid and exoskeleton robotics, the ability to perform everyday task as human movement has been crucial point of research. One of the aspects that a lot of researcher put an effort is sit to stand (STS) motion. Study has shown that STS motion can be predicted using Three-link multi segment robot. But the calculation needed to perform the STS motion is complicated and requires high computational resources. One model is found that has much simpler task for planning and analyzing humanoid or exoskeleton robot which is Telescopic Inverted Pendulum (TIP). TIP is using one single link to represent whole body. However it is not clear whether TIP can represent 3L multi segment robot yet. Thus, this paper objective is trying to find the relationship between TIP and 3L model when the length of the limbs is varied. To do so, MATLAB is used to simulate the STS motion for both 3L and TIP model. The torque values at each joint are observed to obtain the relationship between length and the torque. The results show that both TIP and 3L model give a similar result where the limb's length and joint torque have linear relationship.

[1]  Roman Kamnik,et al.  Model based inertial sensing of human body motion kinematics in sit-to-stand movement , 2008, Simul. Model. Pract. Theory.

[2]  Leonid B. Freidovich,et al.  Natural sit-down and chair-rise motions for a humanoid robot , 2010, 49th IEEE Conference on Decision and Control (CDC).

[3]  Rachid Aissaoui,et al.  Conjugate momentum estimate using non-linear dynamic model of the sit-to-stand correlates well with accelerometric surface data. , 2011, Journal of biomechanics.

[4]  Sani Irwan Md Salim,et al.  3-D Biped Robot Walking along Slope with Dual Length Linear Inverted Pendulum Method (DLLIPM) , 2013 .

[5]  Jong-Hwan Kim,et al.  Modifiable Walking Pattern of a Humanoid Robot by Using Allowable ZMP Variation , 2008, IEEE Transactions on Robotics.

[6]  Publisher Ahmed Madha.  AUSTRALIAN JOURNAL OF BASIC AND APPLIED SCIENCES(AJBAS) , 2015 .

[7]  G. Metta,et al.  A modular bio-inspired architecture for movement generation for the infant-like robot iCub , 2008, 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics.

[8]  Maria Chiara Carrozza,et al.  Biomechatronic Design and Control of an Anthropomorphic Artificial Hand for Prosthetic and Robotic Applications , 2007 .

[9]  Katsu Yamane,et al.  Sit-to-stand task on a humanoid robot from human demonstration , 2010, 2010 10th IEEE-RAS International Conference on Humanoid Robots.

[10]  Toshikazu Matsui,et al.  Optimal Control Model for Reproducing Human Sitting Movements on a Chair and its Effectiveness , 2013 .

[11]  A Cappozzo,et al.  A telescopic inverted-pendulum model of the musculo-skeletal system and its use for the analysis of the sit-to-stand motor task. , 1999, Journal of biomechanics.

[12]  M. Legro,et al.  Issues of importance reported by persons with lower limb amputations and prostheses. , 1999, Journal of rehabilitation research and development.

[13]  Kamran Iqbal,et al.  3D bipedal model for biomechanical sit-to-stand movement with coupled torque optimization and experimental analysis , 2010, 2010 IEEE International Conference on Systems, Man and Cybernetics.

[14]  Mohsen Sadeghi,et al.  A bio-inspired modular hierarchical structure to plan the sit-to-stand transfer under varying environmental conditions , 2013, Neurocomputing.

[15]  Hooshang Hemami,et al.  On a Three-Link Model of the Dynamics of Standing up and Sitting down , 1978, IEEE Transactions on Systems, Man, and Cybernetics.

[16]  Abdul Muis,et al.  Development of whole body motion imitation in humanoid robot , 2013, 2013 International Conference on QiR.

[17]  Muhammad Fahmi Miskon,et al.  FEASIBILITY STUDY OF USING TELESCOPIC INVERTED PENDULUM MODEL TO REPRESENT A THREE LINK SYSTEM FOR SIT TO STAND MOTION , 2015 .

[18]  Huacben Wang,et al.  Analysis and Design of Humanoid Robot Dance , 2014, 2014 7th International Conference on Intelligent Computation Technology and Automation.

[19]  K. Iqbal,et al.  A Fuzzy Biomechanical Model for Optimal Control of Sit-to-Stand Movement , 2005, 2006 IEEE International Conference on Engineering of Intelligent Systems.