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primary topic: Horizontal distance identification algorithm for sit to stand joint angle determination for various chair height using NAO robot

Horizontal distance identification algorithm for sit to stand joint angle determination for various chair height using NAO robot
type: AcademicArticle
type: Article
abstract: This paper presents the development of an autonomous Sit To Stand (STS) motion using NAO robot. NAO robot hip limitation will emulate the limitation faced by people having STS problem. To perform the motion, three main steps have been developed (1) horizontal distance identification, (2) joint angle determination, and (3) stability control. This step was developed based on Alexander STS technique. Results show that NAO robot is able to achieve halfway stand up from chair height between 9.6 and 12.7 cm automatically. The robot's best performance is at 12.7 cm height with swinging time of 0.52 s in experiment and 0.2914 in simulation. The developed system will contribute to the development of exoskeleton, rehabilitation and evolution of humanoid robot. This system also enhances NAO's ability for medical study on STS motion or as tools in searching for the best chair design. © 2014 Springer Science+Business Media Singapore.
date: 2014
volume: 291 LN
is part of: Lecture Notes in Electrical Engineering
status: peerReviewed
status: published
author list: authors
type: EPrint
type: ArticleEPrint
is part of: repository

Springer Verlag
type: Organization

Lecture Notes in Electrical Engineering
type: Collection
issn: 18761100

Muhammad Fahmi Miskon
type: Person
given name: Muhammad Fahmi
family name: Miskon

Mohd Bazli Bahar
type: Person
given name: Mohd Bazli
family name: Bahar

Fariz Ali
type: Person
given name: Fariz
family name: Ali

Norazhar Abu Bakar
type: Person
given name: Norazhar Abu
family name: Bakar

Ahmad Zaki Shukor
type: Person
given name: Ahmad Zaki
family name: Shukor

HTML Summary of #20449 Horizontal distance identification algorithm for sit to stand joint angle determination for various chair height using NAO robot
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primary topic: Horizontal distance identification algorithm for sit to stand joint angle determination for various chair height using NAO robot