Path generation of sit to stand motion using humanoid robot

• Main Authors: Miskon, Muhammad Fahmi, Bahar, Mohd Bazli, Abu Bakar, Norazhar, Shukor, Ahmad Zaki, Ali @ Ibrahim, Fariz
• Format: Article
• Language: English
• Published: AENSI Publisher 2014
• Online Access: http://eprints.utem.edu.my/id/eprint/19258/2/2.3.10%20Path%20Generation%20of%20Sit%20to%20Stand%20Motion%20using%20Humanoid%20Robot.pdf; http://eprints.utem.edu.my/id/eprint/19258/; http://ajbasweb.com/old/ajbas/2014/February/168-182.pdf

The study of sit to stand motion (STS) gives high impact to the robotics field particularly in rehabilitation, exoskeleton, as well as humanoid robotics. Research in the STS field will promote the advancement of common humanoid motion hence make a robot more humanlike. With the capability of STS motion, the robot can be set at sitting position as a default home position and can be used for the purpose of long period application such as security and domestic robot. The main challenge in STS is in addressing the lift-off from chair. In solving the problem, two components involved in the humanoid STS motion system; (1) phase and trajectory planning and (2) motion control. These components should be designed so that the zero moment point (ZMP), centre of pressure (CoP), and centre of mass (CoM) must be in the support polygon. Objective: This paper presents the development of Sit to Stand (STS) motion path generation method that can autonomously generate a stable STS path when standing from multiple chair height. The proposed system is designed to have two main phases. (1) CoM transferring that implements Alexander STS technique and (2) Stabilization Strategy that used IF-THEN rules as action selection and proportional controller as tracking method Results: in the CoM transferring phase, NAO robot is able to shift the head-arms-torso system (HAT) CoM into the support polygon for chair height in between 90.45% to 115.45% from the shank length with the CoM transferring period,