NDLI: Design and Analysis of an Anthropometric Leg of the Humanoid Robot: Tyche

Please wait, while we are loading the content...

ANES/ASME Joint National Solar Energy Week

ASME Citrus Engineering Symposium

ASME India Oil and Gas Pipeline Conference

ASME International Mechanical Engineering Congress and Exposition

ASME 2002 International Mechanical Engineering Congress and Exposition(IMECE2002)

Nondestructive Evaluation

Electronic and Photonic Packaging, Electrical Systems Design and Photonics, and Nanotechnology

Energy Conversion

Advanced Energy Systems

Microelectromechanical Systems

Fluid Power Systems and Technology

Advances in Bioengineering

Applied Mechanics and Biomedical Technology

Textile Engineering

Fluids Engineering

Recent Advances in Solids and Structures

Heat Transfer, Volume 7

Adaptive Structures and Materials Systems

Design Engineering

Technology and Society and Engineering Business Management

Innovations and Applied Research in Mechanical Engineering Technology

5th International Symposium on Fluid Structure Interaction, Aeroelasticity, and Flow Induced Vibration and Noise

Advances in Heat and Mass Transfer in Biotechnology

Heat Transfer, Volume 4

Heat Transfer, Volume 3

Heat Transfer, Volume 6

Heat Transfer, Volume 5

Heat Transfer, Volume 2

Heat Transfer, Volume 1

Transportation: Making Tracks for Tomorrow’s Transportation

Safety Engineering and Risk Analysis

Dynamic Systems and Control

Open Platform for the Integration of Monitoring Applications

EMBench: A Rapid Prototyping Environment for Numerical Control Systems

Time-Frequency Based Sensor Fusion in the Assessment and Monitoring of Machine Performance Degradation

Application of an Imaging System to Study Machining Mist Formation via an Atomization Mechanism

Temperature Control of an Ill-Conditioned Thermal Process Using Regularization

A Thermal-Based Spindle Bearing Load Controller: Preliminary Experimental Evaluation

Practical Dimensional Error Control and Surface Roughness Inspection in Turning

Dynamic Compensation of Cutting Forces Measured From the Spindle Integrated Force Sensor System

Limitations of an Indentation Model for Grinding Gamma Titanium Aluminide

Dynamic Performance of Shoe Centerless Grinding

Repetitive Control for Linear Time Varying Systems

Position-Dependent Disturbance Rejection Using Spatial-Sampling Robust Repetitive Control With Actuator Saturation and Load Uncertainty

An Experimental Study for an Iterative Learning Control Scheme With Adaptive Filtering

Indirect Neural Network Adaptive Robust Control of Linear Motor Drive System

On the Adaptive Control of Mechanical Systems With Time-Varying Parameters and Disturbances

Nested Optimization of an Elevator and Its Gain-Scheduled LQG Controller

Distributed Parameter Dependent Modeling and Control of Flexible Structures

Dynamic Emulation Using a Resistive Control Input

Target Reduction and Balancing Using System Norms: Application to Vehicle Design

Discrete-Event Sensor Fault Isolation With Application to an Electro-Mechanical Break System

Future Trends in Sensed-Information Technology and Sensor Systems Research

Optimal Scheduling and Filtering of Distorted Multi-Sensor Data

The Road to Smart Transducer Technology

Advancing Sensor Technology for Aerospace Propulsion

Intelligent System Identification Using Neural Networks and Genetic Algorithms of an Ultrasonic Positioning System

Optimum Input for System Identification for Systems With Actuator Saturation Using Genetic Algorithms

Genetic Algorithm Based PD Control and Fuzzy Logic Control of a Two Link Robot

Time Optimal and Time-Energy Optimal Control of Satellite Attitude Using Genetic Algorithms

Intelligent Monitoring and Control of Industrial Processes Through the Internet

Development of an Intelligent Automatic Generation Control System for Electrical Power Plants

Fuzzy Logic Based Intelligent Control and Optimal Control of a Rotary Inverted Pendulum System

Information Theoretic Analysis for Input Vector Selection in Black Box Modeling

A Forward Approach for Helicopter Track and Balance

On the Design of an Intelligent Suspension for Controlling Passenger Vehicle Roll Stability

Energy Management Strategy for a Parallel Hybrid Vehicle

In Search of a Suitable Control Policy for Intelligent Vehicle Suspensions

Motion Planning for Dynamic Systems Using First-Order Logic

Control of Position and Grasping Force With Cooperating Arms: A Feedback Linearization Approach

Dynamics, Contact Motion and Control of Dual Arm Object Manipulation With Soft Rolling Fingertips

End Point Control of Nonlinear Flexible Manipulators With Control Constraint Using SDRE Method

A Path-Planning Strategy for Overhead Cranes With High Hoisting Speed

Temporal Difference Approach to Coordinated Motion Control of Cooperating Two Link Robots

Active Vibration Control of a Clamped Square Plate

Inertial Vibration Damping Control for a Flexible Base Manipulator

A New Perspective for Time Delayed Control Systems With Application to Vibration Suppression

Nonlinear Adaptive Vibration Absorber for Linear Uncertain Systems Experiencing Unknown Sinusoidal Disturbances

Nonlinear Control Techniques for the Atomic Force Microscope System

Adaptive Backstepping Control of a McKibben Actuator Driving an Inertial Load

Optimization to Limit Vibration of a Hypotrochoidally Driven Machine

A Reduced-Order Observer Based Piezoelectric Control of Flexible Cartesian (SCARA) Robot Manipulator

Basis Property and Stabilization of a Translating Tensioned Beam Through a Pointwise Control Force

Optimal Feedback Control of Precision Paraboloidal Shell Structronic Systems

Experimental Vibration Control of a Two-Degree of Freedom, State-Switched Absorber System

Active Control of Vibrations in Tall Structures Subjected to Earthquake and Wind Disturbances

Micro-Photodeformation Actions of Photostrictive Actuator Patches Applied to Vibration Control of Cylindrical Shells

Development and Design of a Controller for a Two-Dimensional Actively Controlled Toolpost

Dynamical Modeling and Analysis of the Human Jumping Process

A Control Design Method for Switching Systems With Application to Pneumatic Servo Systems

B-Spline Based Adaptive Control of Shape Memory Alloy Actuated Robotic Systems

Implementation of a Deadlock Avoidance Policy for Multipart Reentrant Flow Lines Using a Matrix-Based Discrete Event Controller

Analytical Dynamic Model and Experimental Robust and Optimal Control of Shape-Memory-Alloy Bundle Actuators

Estimation and Identification of Mass-Spring-Dashpot Systems Using Multiple-Model Adaptive Algorithms

The Internet Engineering Design Agent System: iEDA

Software Development of Co-Simulation of Algebraically Coupled Dynamic Subsystems Without Disclosure of Proprietary Subsystem Models

Variable Fidelity Modeling of Vehicle Ride Dynamics Using an Element Activity Metric

A Dynamic Sizing Methodology in the Context of an Automotive Application

Simulating Distributed-Parameter Multiphase Thermodynamic Systems Using Bond Graphs

An XML-Based Model Representation for Model Management, Transformation and Exchange

Modeling in the Physical Domain: An Optimization-Based Approach

A Model Accuracy and Validation Algorithm

Mass Air Flow Sensor Diagnostics for Adaptive Fueling Control of Internal Combustion Engines

System Identification and Multivariate Controller Design for a Satellite Ultraquiet Isolation Technology Experiment (SUITE)

An Instrumental Variable Approach for Continuous-Time Identification of an SI Engine Model for Automatic Controller Design

Structural Damage Assessment Using Chaotic Dynamic Interrogation

Vibration-Based NDE Technique for Identifying Non-Uniformities in Manufactured Parts With Degeneracies

Influence of Model Inaccuracies on the Prediction of Dynamic System Performance

Simulation and Analysis of Transient Fuel Cell System Performance Based on a Dynamic Reactant Flow Model

Optimization of Advanced Engine Controls for Conventional Vehicles: A Driving Cycle Perspective

Power Split CVT Modeling With Spool Valve Actuation

Identification of a Longitudinal Human Driving Model for Adaptive Cruise Control Performance Assessment

Power Oriented Modeling of a Common Rail Injector

Hybrid Modeling and Control of a Direct Injection Stratified Charge Engine

Control Design of an Automotive Urea SCR Catalyst

Modeling of a Urea SCR Catalyst With Automotive Applications

Predictive Modeling for Rollover Warning of Heavy Vehicles

A Panoramic View of Fault Management for Longitudinal Control of Automated Vehicle Platooning

Performance Guarantees for Hazard Based Lateral Vehicle Control

A First Principle Engine Model for Up-Front Design: Further Studies on Hydrodynamic Bearing Models

Experimental Investigations of the Rubber-Asphalt Sliding Pair Dynamics

Analysis of Torque Converter Dynamics

GPS-Based Real-Time Identification of Tire-Road Friction Coefficient

Prediction of Oxygen Storage Capacity and Stored NOx by HEGO Sensors for Improved LNT Control Strategies

Control of the Rutgers Ankle Rehabilitation Interface

An Intelligent Robotic Walker: Mechanical Design and Control System

Development of a Telerobotic System to Assist Persons With Disabilities

Assessment of the Driving Capabilities of Persons With Disabilities Using an Advanced Vehicle Interface System

Application of Learning Control to a Robotic Arm for Exercises

Optimum Robot Design Based on Task Specifications Using Evolutionary Techniques and Kinematic, Dynamic, and Structural Constraints

Robotic Highway Safety Markers

Design and Prototyping of an Artificial Finger With a Novel Actuation Mechanism and Quick Connect Disconnect Capabilities

Mechatronic Redesign of Slider Crank Mechanism

Toward Improved CVTs: Theoretical and Experimental Results

The Learning Cobot

Run-Time Three-Dimensional Blend-Path Generation for Cobot Constraint Surfaces

The Design and Development of 3DP Cobotic Manipulator

A Study and Development of Fluid Cobot

Exponential Tracking Control of a Hydraulic Proportional Directional Valve and Cylinder via Integrator Backstepping

Nonlinear Adaptive Robust Observer for Velocity Estimation of Hydraulic Cylinders Using Pressure Measurement Only

The Design and Modeling of a Liquid-Propellant-Powered Actuator for Energetically Autonomous Robots

Design and Implementation of a Hybrid Control Strategy for an Active Vibration Isolation System

Hybrid Fuzzy PID Control of Hydraulic Robot

Various Robotic Applications of Perturbation/Correlation Method

Decentralized Kinematic Control of a Cooperating System of Mobile Manipulators

Vision Based Path Planning for Mobile Robot Using Extrapolated Artificial Potential Field and Probabilistic Obstacle Avoidance

Hybrid Fault Adaptive Control of a Mobile Robot

Consecutive Scanning Scheme: Application to Localization and Dynamic Obstacle Detection for a Mobile Robot

The Synthesis of Adaptive Control System With Reference Model for Autonomous Underwater Vehicle

The Educational Impact of a Gantry Crane Project in an Undergraduate Controls Class

Experimentally Identifying the Transfer Function of an Electromechanical System

Design of Controller and Data Acquisition System for a Gear Dynamometer

A Novel Structure for Measurement and Instrumentation Courses

Neural Network Based Intelligent Control and PID Control of a Magnetic Levitation System

The Motion of a Compliantly Suspended Rigid Body Constrained by Multi-Point Frictionless Contact

A New Deterministic Method for Clearance Influence Analysis in Spatial Mechanisms

A Convective Description of Flexible Robot Dynamics

An Anthropometric Arm for the Humanoid Robot: Design and Analysis of the Tyche-Arm

Design and Analysis of an Anthropometric Leg of the Humanoid Robot: Tyche

Hierarchically Organized Bayesian Networks for Distributed Sensor Networks

Self-Contained Intelligent Sensor-Actuator for Temperature Control

Threshold Energy Switching and Its Application to Wireless Sensing in High Energy Manufacturing Processes

Optimization of Threshold Values for Estimators Based on Single-Bit Quantized Sensors Using Genetic Algorithms

Integration of a Signal Processing and Control ASIC With the JPL Micro-Gyroscope

Materials: Processing, Characterization and Modeling of Novel Nano-Engineered and Surface Engineered Materials

Noise Control and Acoustics

Process Industries

Rail Transportation

ASME 2003 International Mechanical Engineering Congress and Exposition(IMECE2003)

ASME 2004 International Mechanical Engineering Congress and Exposition(IMECE2004)

ASME 2005 International Mechanical Engineering Congress and Exposition(IMECE2005)

ASME 2006 International Mechanical Engineering Congress and Exposition(IMECE2006)

ASME 2007 International Mechanical Engineering Congress and Exposition(IMECE2007)

ASME 2008 International Mechanical Engineering Congress and Exposition(IMECE2008)

ASME 2009 International Mechanical Engineering Congress and Exposition(IMECE2009)

ASME 2010 International Mechanical Engineering Congress and Exposition(IMECE2010)

ASME 2011 International Mechanical Engineering Congress and Exposition(IMECE2011)

ASME 2012 International Mechanical Engineering Congress and Exposition(IMECE2012)

ASME 2013 International Mechanical Engineering Congress and Exposition(IMECE2013)

ASME 2014 International Mechanical Engineering Congress and Exposition(IMECE2014)

ASME 2015 International Mechanical Engineering Congress and Exposition(IMECE2015)

ASME 2016 International Mechanical Engineering Congress and Exposition(IMECE2016)

ASME 2017 International Mechanical Engineering Congress and Exposition(IMECE2017)

ASME 2018 International Mechanical Engineering Congress and Exposition(IMECE2018)

ASME International Pipeline Geotechnical Conference

ASME Power Conference

ASME Turbine Blade Tip Symposium

ASME/IEEE Joint Rail Conference

ASME/JSME Thermal Engineering Joint Conference

ASME/NRC Pump and Valve Symposium

ASME/USCG Workshop on Marine Technology and Standards

CANEUS: MNT for Aerospace Applications

Dynamic Systems and Control Conference

Energy Nanotechnology International Conference

Energy Sustainability

Engineering Systems Design and Analysis

Engineering Technology Conference on Energy

Fluid Power Systems Technology

Fluids Engineering Division Summer Meeting

Frontiers in Biomedical Devices

Gas Turbine India Conference

Global Congress on NanoEngineering for Medicine and Biology

Heat Transfer Summer Conference

High Temperature Reactor Technology

Information Storage and Processing Systems

Integrated Nanosystems: Design, Synthesis, and Applications

Internal Combustion Engine Division Fall Technical Conference

Internal Combustion Engine Division Spring Technical Conference

International Conference on Fluidized Bed Combustion

International Conference on Fuel Cell Science, Engineering and Technology

International Conference on Integration and Commercialization of Micro and Nanosystems

International Conference on Micro/Nanoscale Heat Transfer

International Conference on Nanochannels, Microchannels, and Minichannels

International Conference on Nuclear Engineering

International Conference on Offshore Mechanics and Arctic Engineering

International Conference on Radioactive Waste Management and Environmental Remediation

International Design Engineering Technical Conferences and Computers and Information in Engineering Conference

International Electronic Packaging Technical Conference and Exhibition

International Heat Transfer Conference

International Joint Power Generation Conference

International Joint Tribology Conference

International Manufacturing Science and Engineering Conference

International Pipeline Conference

International Solar Energy Conference

International Symposium on Flexible Automation

Multifunctional Nanocomposites and Nanomaterials International Conference

Noise Control and Acoustics Division Conference

North American Waste-to-Energy Conference

Pressure Technology

Pressure Vessels and Piping Conference

Rail Transportation Division Conference

Small Modular Reactors Symposium

Smart Materials, Adaptive Structures and Intelligent Systems

Summer Bioengineering Conference

Turbo Expo: Power for Land, Sea, and Air

Verification and Validation

Water Quality, Drought, Human Health and Engineering Conference

Wind Energy Symposium

World Conference on Innovative Virtual Reality

World Tribology Congress

Design and Analysis of an Anthropometric Leg of the Humanoid Robot: Tyche

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Yih, T. C. Madhu, V. Shurpali Apsangi, Sandeep Pemmaraju, Sankar
Copyright Year	2002
Abstract	This paper is concerned with the development of an anthropometric robotic leg for the humanoid robot, Tyche (Goddess of fortune). The design is based on physiology and anthropometry of human leg. The geometries of the links are finalized based on topological studies and avoidance of singularity condition. Fault tolerant design is incorporated in the design. A pantograph mechanism is used as the control device, which helps in magnifying the input. The kinematic and dynamic analyses are performed on the Tyche-leg. Five different cases are considered based on a cubic input motion profile. The kinematic and dynamic parameters are plotted with respect to time.
Sponsorship	Dynamic Systems and Control Division
Starting Page	1051
Ending Page	1058
Page Count	8
File Format	PDF
ISBN	0791836290
DOI	10.1115/IMECE2002-32488
Volume Number	Dynamic Systems and Control
Conference Proceedings	ASME 2002 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2002-11-17
Publisher Place	New Orleans, Louisiana, USA
Access Restriction	Subscribed
Subject Keyword	Design Physiology Humanoid robots Dynamic analysis Robotics Kinematics
Content Type	Text
Resource Type	Article

Central Library (ISO-9001:2015 Certified)
Indian Institute of Technology Kharagpur
Kharagpur, West Bengal, India | PIN - 721302

See location in the Map
03222 282435
Mail: support@ndl.gov.in

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in