Investigation on Adding Passive Toe Joints to the Feet Structure of 2D Humanoid Robot

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

SADEDEL MAJID; YOUSEFI KOMA AGHIL; IRANMANESH FAEZEH

Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: Modeling in Engineering Year:2018 | Volume:16 | Issue:53 Page(s): 157-170

Download Full-Text

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Persian Verion

View:

365

Download:

Cites:

Information Journal Paper

Title

Investigation on Adding Passive Toe Joints to the Feet Structure of 2D Humanoid Robot

Author(s)

SADEDEL MAJID | YOUSEFI KOMA AGHIL | IRANMANESH FAEZEH | Issue Writer Certificate

Keywords

Humanoid robotQ1

Passive toe jointQ1

Dynamic modelQ1

Parametric analysisQ1

Spring constantQ1

Damping coefficientQ1

Abstract

The main objective of this paper is to design a passive toe for Surena ||| Humanoid robot which is designed and fabricated at the center of advanced systems and technologies of the University of Tehran (CAST). To this end, a 2D model of robot has been adopted. The first step is to design the trajectory of joints neglecting the toe joints. The second step is to investigate the motion stability of the Humanoid robot which has equipped with a passive toe using zero moment point criteria. For this purpose, angles of the passive toe during motion is needed which is obtained using vibrational equations. Afterward, the Dynamic model of the robot is derived. Constraint-relaxation method is used to determine the reaction forces on the robot, then calculating generalized force vector which contains all joint torques and reaction forces for different phases of motion. To validate the derived Dynamic model, the position of the zero moment point is calculated again using reaction forces. Therefore, the position of the zero moment point has been calculated using two different methods. The first one is according to the kinematic of the robot and the second is based on the dynamic of the robot. Finally, the Spring constant and the Damping coefficient parameters have been changed to investigate how these parameters affect on the angle of passive toe and a Parametric analysis has been adopted to inspect the effects of the aforementioned parameters on joint powers and joint torques.

Cites

No record.

References

No record.

Cite

APA: Copy

SADEDEL, MAJID, YOUSEFI KOMA, AGHIL, & IRANMANESH, FAEZEH. (2018). Investigation on Adding Passive Toe Joints to the Feet Structure of 2D Humanoid Robot. JOURNAL OF MODELING IN ENGINEERING, 16(53 ), 157-170. SID. https://sid.ir/paper/361765/en

Vancouver: Copy

SADEDEL MAJID, YOUSEFI KOMA AGHIL, IRANMANESH FAEZEH. Investigation on Adding Passive Toe Joints to the Feet Structure of 2D Humanoid Robot. JOURNAL OF MODELING IN ENGINEERING[Internet]. 2018;16(53 ):157-170. Available from: https://sid.ir/paper/361765/en

IEEE: Copy

MAJID SADEDEL, AGHIL YOUSEFI KOMA, and FAEZEH IRANMANESH, “Investigation on Adding Passive Toe Joints to the Feet Structure of 2D Humanoid Robot,” JOURNAL OF MODELING IN ENGINEERING, vol. 16, no. 53 , pp. 157–170, 2018, [Online]. Available: https://sid.ir/paper/361765/en

Related Journal Papers