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Design and development of the biped prototype ROBIAN

A. Konno, R. Sellaouti, F.B. Amar, F.B. Ouezdou
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)  
I n this paper, the conceptual design of the biped prototype R O B I A N is discussed.  ...  I n order to study the human being locomotion system, a multi-degrees of freedom (DOFs) biped prototype equipped with flexible feet, which is named as RO-BIAN, is developed.  ...  The ROBIAN is expected to be a good testbed for the efficient development of active/passive prosthesis for disabled people.  ... 
doi:10.1109/robot.2002.1014736 dblp:conf/icra/KonnoSAO02 fatcat:blpmcv3auzfarakxj3yntqrtle

State machine-based controller for walk-halt-walk transitions on a biped robot

H. Serhan, P. Henaff, C. Nasr, F. Ouezdou
2008 Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots  
We validated the control approach to a dynamic simulation of our 14DOF biped called ROBIAN.  ...  Results show that the walk of the biped is very similar to human one.  ...  For this purpose, a multidegree of freedom biped prototype with flexible feet called ROBIAN (Fig.2 ) has been developed.  ... 
doi:10.1109/ichr.2008.4756027 dblp:conf/humanoids/SerhanHNO08 fatcat:c5p2thewvfhprolh74lkvs5tly

New three DOF ankle mechanism for humanoid robotic application: Modeling, design and realization

S. Alfayad, F.B. Ouezdou, F. Namoun
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Designing and control of biped robot are still open questions. Design of ankle joint which is considered one of the more compact with high power capacity and low weight is a big challenge.  ...  The very important role played by this joint during walking, makes its design and control the first step of having a robust walking biped.  ...  A prototype was designed and manufactured. This ankle mechanism is a part of our under development HYDROïD robot.  ... 
doi:10.1109/iros.2009.5354806 dblp:conf/iros/AlfayadON09 fatcat:xai75h6c3nfnjpplemqn7gadtq

Mechatronic design of NAO humanoid

David Gouaillier, Vincent Hugel, Pierre Blazevic, Chris Kilner, Jerome Monceaux, Pascal Lafourcade, Brice Marnier, Julien Serre, Bruno Maisonnier
2009 2009 IEEE International Conference on Robotics and Automation  
The comprehensive and functional design is one of the reasons that helped select NAO to replace the AIBO quadrupeds in the 2008 RoboCup standard league.  ...  This article presents the mechatronic design of the autonomous humanoid robot called NAO that is built by the French company Aldebaran-Robotics.  ...  ACKNOWLEDGMENTS The partners of the NAO project would like to thank the students of the French design school Creapole for designing the outer shell of NAO.  ... 
doi:10.1109/robot.2009.5152516 dblp:conf/icra/GouaillierHBKMLMSM09 fatcat:dqco4wt6xzcgvmbl3s2othh3wa

Toward Intelligent Biped-Humanoids Gaits Generation [chapter]

Nizar Rokbani, Boudour Ammar, Adel M.
2009 Humanoid Robots  
In this chapter we will highlight our experimental studies on natural human walking analysis and introduce a biologically inspired design for simple bipedal locomotion system of humanoid robots.  ...  This proposal can be used for small size humanoid robots, with a knee an ankle and a hip and at least six Degrees of Freedom (DOF).  ...  For the gaits generation of the biped locomotion system, we opted for a multi-swarms design, each swarm controls a joint.  ... 
doi:10.5772/6732 fatcat:nrkqslhg7vablavcw77ub25iii

A literature review on the optimization of legged robots

Manuel Fernando Silva, JA Tenreiro Machado
2011 Journal of Vibration and Control  
structures, the adoption of sound mechanical design rules, and the optimization of power-based indexes.  ...  Over the last two decades the research and development of legged locomotion robots has grown steadily.  ...  Acknowledgements The authors would like to acknowledge the anonymous reviewers whose valuable comments have allowed the improvement of this paper.  ... 
doi:10.1177/1077546311403180 fatcat:xgiwilj4vbc5fjt5fvsji5we3y

Detection of Landmines Using Nuclear Quadrupole Resonance (NQR): Signal Processing to Aid Classification [chapter]

S. D. Somasundaram, K. Althoefer, J. A. S. Smith, L. D. Seneviratne
2006 Climbing and Walking Robots  
As the experimental results, the developed prototype walked at 0.001m/s and held the load of 45 kg.  ...  This paper introduces the basic ideas and mechanism of robot with the proposed jack-type legs and discusses the basic performance of developed prototype.  ...  The locomotion of a legged robot presents not only the problem of optimizing the maximum speed, but also the problem of obtaining a precise speed response for all the range of possible speeds.  ... 
doi:10.1007/3-540-26415-9_100 dblp:conf/clawar/SomasundaramASS05 fatcat:4vu25zlx65dszgbcxkusxozfve

Dynamic simulation of a humanoid robot with four DOFs torso

F. Gravez, B. Mohamed, F.B. Ouezdou
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)  
In this paper, we present the 3D dynamic simulation of walking gait of biped Robian I1 virtual manikin (25 kg weight, 1.10 m height). The biped has 16 degrees of freedom (dofs).  ...  Scale factorization is used in order t o reach Robian I1 weight and height.  ...  First of all, scale reduction was used t o obtain values of the Robian I1 prototype weight and height.  ... 
doi:10.1109/robot.2002.1013410 dblp:conf/icra/GravezMO02 fatcat:44277nhajnfcld4mzr32v4dsrq

The NAO humanoid: a combination of performance and affordability [article]

David Gouaillier, Vincent Hugel, Pierre Blazevic, Chris Kilner, Jerome Monceaux, Pascal Lafourcade, Brice Marnier, Julien Serre, Bruno Maisonnier
2008 arXiv   pre-print
The comprehensive and functional design is one of the reasons that helped select NAO to replace the AIBO quadrupeds in the 2008 RoboCup standard league.  ...  This article presents the design of the autonomous humanoid robot called NAO that is built by the French company Aldebaran-Robotics.  ...  ACKNOWLEDGMENT NAO was specially designed to look friendly to the public. It was the result of a student project from the French design and management school named Creapole.  ... 
arXiv:0807.3223v2 fatcat:4e6vcjwzbvfpxnx7qufd2ztrue

Design of a 3 DOFs parallel actuated mechanism for a biped hip joint

R. Sellaouti, A. Konno, F.B. Ouezdou
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)  
Simulations were conduced to validate the kinematic model and optimize the design. Experimental prototype was developed to perform realistic tests on the control of this kind of mechanism.  ...  Abstmct-This paper deals with a novel approach to carry out the design of 3 DOF actuated joints for humanoid robots.  ...  type of ROBIAN biped robot is being developed with #Fig. 1 . 1 ROBIAN's legThe leg kinematic structure shown inFigure 1is used in the ROBIAN project.  ... 
doi:10.1109/robot.2002.1014700 dblp:conf/icra/SellaoutiKO02 fatcat:bexcfsytfjegde74vdxmiho3pa

Walking Gait Planning And Stability Control [chapter]

Chenbo Yin, Jie Zhu, Haihan Xu
2009 Humanoid Robots  
And Development of the Biped Prototype Robian," Proceedings of the 2002 IEEE International Conference on Robotics & Automation, Wasington,DC; May 2002.  ...  The main problems are the design of convenient key-frames, and the choice of adequate interpolation techniques.  ...  From (15) Humanoid robots are developed to use the infrastructures designed for humans, to ease the interactions with humans, and to help the integrations into human societies.  ... 
doi:10.5772/6735 fatcat:3ncsc4syynfxzgw27uhb6r7zwa

Modeling and Simulation of a New Integrated Electrohydraulic Actuator for Humanoid Robots

Samer Alfayad
2016 International Journal of Advanced Robotics and Automation  
In order to present and develop the working dynamics of this actuator, a highly detailed mathematical model for the system is presented.  ...  Such test-bed model is used to obtain the transfer function of the system and its order. Analysis of the effects of the main parameters was carried out and a lower order of the system was identified.  ...  The effectiveness of the developed virtual model allows a quick and accurate evaluation of the internal parameters early in the design and development stage.  ... 
doi:10.15226/2473-3032/1/3/00114 fatcat:2tbyzlyxlzhr5bmhhtilgqtgme

Advancement of Android and Contribution of Various Countries in the Research and Development of the Humanoid Platform

Md Akhtaruzzaman, Amir Shafie
International Journal of Robotics and Automation (IJRA)   unpublished
ACKNOWLEDGEMENT The authors will like to express their appreciation to Ministry of Higher Education Malaysia (MOHE Malaysia), in funding the project through Fundamental Research Grant Scheme (FRGS).  ...  The LIRIS Laboratory at the University of Versailles made an experimental anthropomorphic biped named ROBIAN in 2004 [10] .  ...  Project Romeo is an ambitious to develop a functional prototype of a humanoid robot by the end of 2011.  ... 
fatcat:gdjlcjoenrdw3madzqkb4uvwfe

International Journal of Robotics and Automation (IJRA)

Edited By
2010 International Journal of Robotics and Automation (IJRA)   unpublished
The authors will like to express their appreciation to Ministry of Higher Education Malaysia (MOHE Malaysia), in funding the project through Fundamental Research Grant Scheme (FRGS).  ...  The LIRIS Laboratory at the University of Versailles made an experimental anthropomorphic biped named ROBIAN in 2004 [10] .  ...  Project Romeo is an ambitious to develop a functional prototype of a humanoid robot by the end of 2011.  ... 
fatcat:onspnnhelfbx5hojaksxbkdzfe