Presentation of Robotics (2)

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Presentation transcript:

Presentation of Robotics (2) Republic of Yemen University of Science And Technology Faculty of science and Engineering BioMedical Engineering Department Presentation of Robotics (2) Supervised by: DR. Fadhl M. Alakwaa PhD Presented by : Akram Elhadi Ahmed Helmy 18 September 2018

Legged Robots Presented by : Akram Elhadi Ahmed Helmy 18 September 2018

Balance Of Legged Robots There are two ways to balance a robot body, namely static balance and dynamic balance. Presented by : Akram Elhadi Ahmed Helmy 18 September 2018

Static Balance Methods Presented by : Akram Elhadi Ahmed Helmy 18 September 2018

Dynamic Balance Methods Quantifying dynamic stability—dynamical systems theory: The ﬁeld of dynamical systems provides an established methodology to quantify stability Presented by : Akram Elhadi Ahmed Helmy 18 September 2018

Define and measure variables that specify the state of the system: The first task in the quantification of stability is to decide on what is best to measure. The goal is to specify a set of variables such as positions and velocities that completely define the state of the system. Presented by : Akram Elhadi Ahmed Helmy 18 September 2018

Periodic orbit or limit cycle. (A) Periodic orbit or limit cycle. (A). Variation in a single state variable, lateral velocity over one stride. A cycle is present within which lateral velocity repeats from t to t+1. (B). Periodic orbit showing a limit cycle in state space. Lateral, rotation, and fore-aft velocity oscillate following a regular trajectory over a stride. Any point in the cycle can be considered an equilibrium point (star) of the associated return map. Presented by : Akram Elhadi Ahmed Helmy 18 September 2018

Analysis Of Gaits In Legged Animals The Creep Presented by : Akram Elhadi Ahmed Helmy 18 September 2018

Walk Presented by : Akram Elhadi Ahmed Helmy 18 September 2018

The Trot Presented by : Akram Elhadi Ahmed Helmy 18 September 2018

Running Gaits Galloping: Presented by : Akram Elhadi Ahmed Helmy 18 September 2018

Flying: Presented by : Akram Elhadi Ahmed Helmy 18 September 2018