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Personalized gait trajectory generation based on anthropometric features using Random Forest

Journal of Ambient Intelligence and Humanized Computing 2023年第12期14卷 15597-15608页

作者： Ren, Shixin Wang, Weiqun Hou, Zeng-Guang Chen, Badong Liang, Xu Wang, Jiaxing Peng, Liang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China The CAS Center for Excellence in Brain Science and Intelligence Technology Beijing100190 China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China

Using lower limb rehabilitation robots (LLRRs) to help stroke patients recover their walking ability is attracting more and more attention presently. Previous studies have shown that gait rehabilitation training with natural gait pattern can improve the therapeutic outputs. However, how to generate the personalized gait trajectory has not been well researched. In this paper, a personalized gait generation method based anthropometric features is proposed. Firstly, gait trajectories are fitted and simplified into Fourier coefficient vectors, which are used to represent gait trajectories. Secondly, fourteen body features are used to generate the personalized gait trajectories and the feature set is further optimized based on the minimal redundancy maximal relevance criterion for easy application on the LLRR. Then, the relationship between the optimized feature set and gait trajectories is modeled by using the RF algorithm. Finally, the performance of the proposed method is demonstrated by several comparison experiments. © 2019, Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Trajectories

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Learning Cooperative Object Pushing with Variable Contact Point

Learning Cooperative Object Pushing with Variable Contact Po...

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2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Pages 805-1210

作者： Abdol Hossein Aminaiee Majid Nili Ahmadabadi Robotics and AI Laboratory Control and Intelligent Processing Center of Excellence Department of Electerical and Computer Engineering University of Tehran

ISBN: (纸本)9781424412631;1424412633

Learning in multi-agent environments where each agent's action directly affects other agents would be an important matter and a complicated task. To reduce the learning time and simplifying the learning process, it is suitable to learn individual skills and then provide cooperation and coordination utilizing the learned individual skills. In the approach proposed in this paper, agents benefit from their individual knowledge obtained in the individual learning phase to cooperate with other agents. Cooperative object pushing system is used as a testbed to our proposed method where cooperation and coordination between agents are needed in these systems. Agents independently learn to push the object to the target by using the proposed fuzzy reinforcement learning method. Agents attain their cooperative behaviors properly making use of the coded knowledge in the Q-table. Simulation and experimental results show that by interpreting the knowledge in the Q-table, agents can achieve high level behaviors with a high degree of cooperation.

关键词： Agents Learning Point contacts pushing variable contact

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Balance Recovery of a Quadruped Robot

Balance Recovery of a Quadruped Robot

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RSI/ISM International Conference on robotics and Mechatronics

作者： Mahdi Khorram S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Lab Dept of Mech Eng K. N. Toosi Univ of Tech Tehran Iran Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Lab Dept of Mech Eng K. N. Toosi Univ of Tech Tehran Iran

ISBN: (纸本)9781467372350

Maintaining the balance or stability of legged robots in natural terrains is a challenging problem. Besides the inherent unstable characteristics of legged robots, the sources of instability are the irregularities of the ground surface and also the external pushes. In this paper, a push recovery framework for restoring the robot balance against external unknown disturbances will be demonstrated. It is assumed that the magnitude of exerted pushes is not large enough to use a reactive stepping strategy. In the comparison with previous methods, which a simplified model such as point mass model is used as the model of the robot for studying the push recovery problem, the whole body dynamic model will be utilized in present work. This enhances the capability of the robot to exploit all of the DOFs to recover its balance. To do so, an explicit dynamic model of a quadruped robot will be derived. The balance controller is based on the computation of the appropriate acceleration of the main body. It is calculated to return the robot to its desired position after the perturbation. This acceleration should be chosen under the stability and friction conditions. To calculate main body acceleration, an optimization problem is defined so that the stability, friction condition considered as its constraints. The simulation results show the effectiveness of the proposed algorithm. The robot can restore its balance against the large disturbance solely through the adjustment of the position and orientation of main body.

关键词： Push recovery Quadruped robots dynamics stability friction constraints

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Kinematics and Dynamics Modeling of Spherical Parallel Manipulator

Kinematics and Dynamics Modeling of Spherical Parallel Manip...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Omid Mahdizadeh Afshin Zeinaddini Meymand Mojtaba Mollahossein S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

Spherical parallel manipulators have been proposed for accurate and fast performance. In this paper, kinematics and dynamics of a spherical three degrees-of-freedom parallel manipulator are studied. First, both direct and inverse kinematics are solved by using a new geometric approach and defining a new appropriate set of coordinates. Then, based on the derived kinematics equations and Jacobian matrices of links, according to Lagrange method, the explicit dynamics formulation of the manipulator is developed. The obtained dynamics has been verified by using *** and MATLAB Software, simultaneously. This explicit verified model is highly important to design and implement various model based control algorithms. So, a Fuzzy Adaptive PID controller is designed to show the controller's operation on the manipulator. Discussing the obtained results reveal the merits and importance of the proposed modeling.

关键词： Manipulator dynamics Kinematics Mathematical model Jacobian matrices Gravity Dynamics

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Dynamics Modelling and Parameters Estimation for Nonlinear-Model Predictive control of Underwater Robots

Dynamics Modelling and Parameters Estimation for Nonlinear-M...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian Mohammad Jamali Omid Mahdizadeh Vahid Akbari Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781665420952

Underwater robots are to be extensively used in various submerged missions. A few research works have been conducted to investigate the nonlinear dynamical behavior of such systems in ocean flows. In this paper, dynamics modeling and parameters estimation for these complicated systems are developed for using model-based predictive control. It is begun by presenting the nonlinear equations governing the dynamics of an underwater robot in an ocean open flow. Additionally, the movement of the diving and depth motion of the robot in such cases is analyzed. A method to estimate hydrodynamic and other parameters of an underwater robot is presented and compared with experimental data. This method consists of close-to-reality simulation using a CFD subsystem of the ANSYS software. Finally, these parameters are used to design a model-based controller. Numerical simulations are carried out to evaluate the performance of the controllers. Among all the model-based controllers, nonlinear Model Predictive control (nonlinear-MPC) with constraints will be able to follow the setpoints within less time and less control effort. The experimental data confirm the simulation results, proving the underwater robot's capability for path-following in an ocean open flow.

关键词： Autonomous underwater vehicles Parameter estimation Oceans Simulation Predictive models Mathematical models Software

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Augmented Modeling of a Lower Limb Assistant Robot and Human Body

Augmented Modeling of a Lower Limb Assistant Robot and Human...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian Mohamad R. Mohamadi Farshid Absalan Center of Excellence in Robotics and Control Advanced Robotics – Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

Rehabilitation robotics is nowadays one of the most attractive fields in robotics. This paper focuses on modeling of a lower limb walking assist device (RoboWalk), augmented with the human body. RoboWalk has been designed to assist either the elderly people or those with malfunctioning in lower limb to do their daily tasks. Modeling the assistive device augmented to human model is highly important for design improvements and controller developments. In such complicated cases, simulators are appropriate tools to analyze the dynamics of robotic devices and understand how the device works which leads to the system improvements. In this paper, a human model that is properly appended to the RoboWalk has been analyzed using the OpenSim software. The human model includes 37 degrees of freedom to define joint kinematics, 80 muscle units actuating the lower limbs, and 17 torque actuators driving the upper body. To this end, the robot has been first added to the human model, then constraints have been properly defined, finally simulation has been implemented by adding a specified gait to human model. Obtained results will be discussed which reveal a reasonable performance of the whole system.

关键词： Solid modeling Actuators Assistive devices Knee Hip Legged locomotion

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RoboGlove: Design of a Tendon-Driven Robotic Glove with Differential Mechanisms

RoboGlove: Design of a Tendon-Driven Robotic Glove with Diff...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mehran Abbasi S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

Stroke and spinal cord injury (SCI) are two main causes of human upper-limb movement impairments. In this paper, the design of a soft robotic glove with tendon actuation for rehabilitation purposes of the human hand is presented. This robotic glove called KNTU RoboGlove is designed based on differential mechanisms. To help patients, the glove makes grasping objects with different geometries be possible using a single DC motor. To this end, the differential mechanisms are first presented, which are used in two parts of the system. The actuation unit actuates all fingers with a motor, while uses differential gears that can produce the flexion or extension motions without facing singularities. Finally, the functionality of RoboGlove is evaluated in performing two different tasks. First one is grasping a cylindrical object, while the second consists of grasping an irregular-shaped object. Obtained results reveal the merits of the proposed robotic glove.

关键词： Thumb Tendons Robots Ligaments Joints Electron tubes

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Manipulation by Juggling of Planar Polygonal Objects Using Two 3-DOF Manipulators

Manipulation by Juggling of Planar Polygonal Objects Using T...

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2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Pages 805-1210

作者： Adel Akbarimajd Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Robotics and AI Lab. ECE Department University of Tehran Iran

ISBN: (纸本)1424412633

Dynamic object manipulation of planar polygonal objects using two 3-DOF planar manipulators is studied. The object rests on the palm of a manipulator and the manipulator throws the object into kinematical workspace of the other one. The second manipulator catches the object and carries it into the goal configuration. Manipulation task is modeled and dynamic grasp condition is obtained for the instances that the manipulators carry the object on their palms. In addition, a manipulation planning strategy is devised. The planning strategy uses time of free flight as a free parameter to determine the throw and catch states. Proposed manipulation method is verified by a set of simulations in ADAMS+SIMULINK.

关键词： Nonprehensile Manipulation Dynamic object manipulation Multirobot object manipulation Juggling

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Human Body Modeling for Ground Contact Force Estimation of RoboWalk

Human Body Modeling for Ground Contact Force Estimation of R...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Farshid Absalan S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

RoboWalk is a lower limb rehabilitation robot for Human body weight assistance. To achieve a proper design of RoboWalk, there is a need to understand the dynamics of human and foot contact forces with the ground that is the focus of this paper. In fact, an important component of human-Robo Walk forward dynamics simulation is foot-ground contact modelling. Different models have been proposed to simulate the contact of the foot with the ground. In this study, the dynamic equations of human body is developed with 19 degrees of freedom, while three points of collision with the ground are considered for each foot. Next, the kinematics information obtained from the experimental data are introduced to the dynamical equations, and the joint torques are estimated by solving the inverse dynamics of the human model. The results are compared to the experimental data for model validation. However, it is assumed that the numerical value of the foot contact model parameters are not available, so the pelvis is constrained in such a way that the human model foot does not hit the ground. Therefore, these uncertain parameters does not affect the validation results. Next, a model is selected from the existing models to express the foot contact behavior with the ground, while such models should provide stable walking with selecting the appropriate parameters. To determine the shear and normal contact force, numerical values of the parameters are required while these values depend on the shoe and the ground material and surface. Then, the path traveled by the pelvis in the human dynamic model was compared with the path of the actual pelvic motion and their difference was used to form a cost function to determine the parameters. In the next step, by choosing appropriate values for the contact parameters of the foot and the springs and the damping of the toe joint, the path of the pelvis becomes closely identical to the actual pelvis motion. Finally, after the human gait stabilized, the de

关键词： Mathematical model Dynamics Foot Force Friction Computational modeling Robots

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A fuzzy controller for visual comfort inside a meeting-room 23

A fuzzy controller for visual comfort inside a meeting-room

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23rd Mediterranean Conference on control and Automation, MED 2015

作者： Rodriguez, J.M. Castilla, M. Alvarez, J.D. Rodriguez, F. Berenguel, M. University of Almería Agrifood Campus of International Excellence CeiA3 CIESOL Joint Center University of Almería CIEMAT Automatic Control Robotics and Mechatronics Research Group Ctra. Sacramento s/n La-Cañada04120 Spain

ISBN: (纸本)9781479999361

In general, human beings receive most part of information through eyesight. Therefore, light is an essential element which allows people to distinguish the shape, colour and perspective of the environment around them. Moreover, energy efficiency in buildings is a problem that is being widely analysed since energy consumption inside them represents approximately 40% of total world energy consumption. In addition, illumination supposes around 20% of total energy consumption in houses and between 40% and 70% in shops and offices. This paper presents a fuzzy logic controller which allows maintaining visual comfort inside a meeting-room through an efficient use of both natural and artificial lights. In order to probe the effectiveness of the proposed control system, suitable real results obtained in a meeting-room of the CIESOL bioclimatic building are included and commented. © 2015 IEEE.

关键词： Energy utilization

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