IDEAS home Printed from https://ideas.repec.org/a/apb/jaterr/2017p254-265.html
   My bibliography  Save this article

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
    as

    Download full text from publisher

    File URL: https://tafpublications.com/platform/Articles/full-jater3.6.4.php
    Download Restriction: no

    File URL: https://tafpublications.com/gip_content/paper/Jater-3.6.4.pdf
    Download Restriction: no

    File URL: https://libkey.io/10.20474/jater-3.6.4?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    References listed on IDEAS

    as
    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.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    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.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Behnam Pour Pir Ali & Yaser Maddahi, 2019. "Localization of redundant robotic systems with wheeled mobile base: Theory and experiment," Journal of Advances in Technology and Engineering Research, A/Professor Akbar A. Khatibi, vol. 5(2), pages 93-100.
    2. Magdi S. Mahmoud & Bilal J. Karaki, 2019. "Event-based networked control scheme for two-wheeled systems," Journal of Advances in Technology and Engineering Research, A/Professor Akbar A. Khatibi, vol. 5(4), pages 151-158.
    3. Alhamzah Taher Mohammed, 2018. "Design and simulation of optimized QPSK transmitter using HDL code in MATALB," Journal of Advances in Technology and Engineering Research, A/Professor Akbar A. Khatibi, vol. 4(5), pages 208-213.
    4. 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.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:apb:jaterr:2017:p:254-265. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: A/Professor Akbar A. Khatibi (email available below). General contact details of provider: https://tafpublications.com/platform/published_papers/10 .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.