TY  - JOUR
VL  - 291 LN
KW  - Algorithms; Anthropomorphic robots; Design; Robotics; Aautonomous; Alexander technique; Humanoid robot; Identification algorithms; Medical studies; NAO; Stability control; STS; Signal processing
ID  - scholars20449
N2  - 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.
SN  - 18761100
JF  - Lecture Notes in Electrical Engineering
UR  - https://www.scopus.com/inward/record.uri?eid=2-s2.0-84900498133&doi=10.1007%2f978-981-4585-42-2_7&partnerID=40&md5=da022048069479cab909e78be8998961
N1  - Cited by: 1
AV  - none
Y1  - 2014///
TI  - Horizontal distance identification algorithm for sit to stand joint angle determination for various chair height using NAO robot
PB  - Springer Verlag
A1  - Bahar, Mohd Bazli
A1  - Miskon, Muhammad Fahmi
A1  - Bakar, Norazhar Abu
A1  - Shukor, Ahmad Zaki
A1  - Ali, Fariz
ER  -