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Conceptual Design and Kinematic Analysis of Humanoid Robot


Affiliations
1 School of Mechanical and Building Sciences, VIT University, Chennai - 600127, Tamil Nadu, India
 

The humanoid robots are necessarily to be developed because of its ability to perform variety of tasks in flexible environment. This paper presents the conceptual design, kinematic analysis and development of voice control system of the proposed 14 Degree of Freedom (DOF) humanoid robot (AKSHAR). The forward kinematics of the humanoid arm is done by (DH) method. Generally, the inverse kinematics of humanoid robot is mostly non-linear and difficult to solve. To overcome this issue, the elbow and wrist are considered as coupled link because of their relative motion which leads to solve the problem with less complexity. A comparative study is carried out between geometry and Adaptive Neuro-Fuzzy Inference system (ANFIS) methods to find a suitable approach to solve inverse kinematics of the robot. Further, in order to improve the humanoid design, the voice control system using Bluetooth is developed to interact with human. The main focus of the research is to carry out accurate solutions for inverse kinematics by using an advance approach so that the results data will be implemented and trained to the robot to grasp the object successively. Based on the inverse kinematics solutions, the developed ANFIS solution using MATLAB shows better results than geometry method. The developed voice controlled system found to be satisfactory with the given inputs.

Keywords

ANFIS, DH Parameters, Forward Kinematics, Humanoid Robot, Inverse Kinematics, Voice Controlled System.
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  • Conceptual Design and Kinematic Analysis of Humanoid Robot

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Authors

Kaushal Dholariya
School of Mechanical and Building Sciences, VIT University, Chennai - 600127, Tamil Nadu, India
A. Arockia Selvakumar
School of Mechanical and Building Sciences, VIT University, Chennai - 600127, Tamil Nadu, India

Abstract


The humanoid robots are necessarily to be developed because of its ability to perform variety of tasks in flexible environment. This paper presents the conceptual design, kinematic analysis and development of voice control system of the proposed 14 Degree of Freedom (DOF) humanoid robot (AKSHAR). The forward kinematics of the humanoid arm is done by (DH) method. Generally, the inverse kinematics of humanoid robot is mostly non-linear and difficult to solve. To overcome this issue, the elbow and wrist are considered as coupled link because of their relative motion which leads to solve the problem with less complexity. A comparative study is carried out between geometry and Adaptive Neuro-Fuzzy Inference system (ANFIS) methods to find a suitable approach to solve inverse kinematics of the robot. Further, in order to improve the humanoid design, the voice control system using Bluetooth is developed to interact with human. The main focus of the research is to carry out accurate solutions for inverse kinematics by using an advance approach so that the results data will be implemented and trained to the robot to grasp the object successively. Based on the inverse kinematics solutions, the developed ANFIS solution using MATLAB shows better results than geometry method. The developed voice controlled system found to be satisfactory with the given inputs.

Keywords


ANFIS, DH Parameters, Forward Kinematics, Humanoid Robot, Inverse Kinematics, Voice Controlled System.



DOI: https://doi.org/10.17485/ijst%2F2016%2Fv9i34%2F116688