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Development and implementation of a sit-to-stand motion algorithm for humanoid robots

Author

Listed:
  • Fatma Gongor

    (Department of Electrical and Electronic Engineering, Adana Science and Technology University, Adana, Turkey)

  • Onder Tutsoy

    (Department of Electrical and Electronic Engineering, Adana Science and Technology University, Adana, Turkey)

  • Sule Colak

    (Department of Electrical and Electronic Engineering, Adana Science and Technology University, Adana, Turkey)

Abstract

Humanoid robots are extensively becoming an essential part of the social life with the development and implementation of Human-Like behaviors such as walking, grasping, standing up, and sitting down. For generating natural Human-Like behaviors, the desired motion should be controlled properly in the dynamic and unstructured environments. This paper presents a Sit-to-Stand (STS) motion algorithm developed to lead autonomous Human-Like motion. The proposed algorithm has two main steps; where in the first one, horizontal distances of the humanoid robot for sitting down or standing up motions are identified to determine the corresponding joint angles, and in the second stage, the initial joint angles of the robot have been driven to the target joint angle states. Although this algorithm can be adopted to all humanoid robots, in this paper, it has been specifically applied to the NAO humanoid robot. Results show that the NAO humanoid robot is able to autonomously achieve halfway standing up and sitting down from chairs having heights between 9.5 and 11.5 cm. The developed STS algorithm will be combined with chair recognition and selection algorithms in the future, which will significantly enhance the capabilities of autonomous humanoid robots.

Suggested Citation

  • Fatma Gongor & Onder Tutsoy & Sule Colak, 2017. "Development and implementation of a sit-to-stand motion algorithm for humanoid robots," Journal of Advances in Technology and Engineering Research, A/Professor Akbar A. Khatibi, vol. 3(6), pages 254-265.
    • Handle: RePEc:apb:jaterr:2017:p:254-265
    DOI: 10.20474/jater-3.6.4
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    References listed on IDEAS

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    1. Kuhan Punaiyah & Harkishen Singh, 2017. "Biped Robot for Walking and Turning Motion Using Raspberry Pi and Arduino," International Journal of Technology and Engineering Studies, PROF.IR.DR.Mohid Jailani Mohd Nor, vol. 3(2), pages 49-58.
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    Cited by:

    1. Luo Jun-Qi & Wei Chien & Xu Jia-Xin & Liang Xi-Qiu, 2018. "Ant Colony Optimization Solutions for Path Planning of Logistic Vehicle," International Journal of Technology and Engineering Studies, PROF.IR.DR.Mohid Jailani Mohd Nor, vol. 4(3), pages 95-101.
    2. Chia-Yun Lee & Jia-Ying Lin & Ray-I Chang, 2018. "Improve Quality and Efficiency of Textile Process using Data-driven Machine Learning in Industry 4.0," International Journal of Technology and Engineering Studies, PROF.IR.DR.Mohid Jailani Mohd Nor, vol. 4(2), pages 64-76.
    3. Yung-Hsiang Liu & H. P. Hsu & S. M. Yang, 2019. "Development of an efficient and resilient algorithm For lane feature extraction in image sensor-based lane detection," Journal of Advances in Technology and Engineering Research, A/Professor Akbar A. Khatibi, vol. 5(2), pages 85-92.

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