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Development of 18 DOF salamander robot using CPG based locomotion for straight forward walk

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Department of Mechanical Engineering, Diponegoro University, Semarang, Indonesia

Abstract

The utilization of mechatronics, robotics, and control systems has been widely spread in many areas over the last few decades. Robotics research is widely used for industrial purposes such as wheeled robots and manipulators, but nowadays many researchers have incorporated biomimetic science, often called biorobotics. This paper presents a preliminary research in the field of biorobotics with a robot salamander model that can walk in straight walking using a central pattern generator ( CPG ). This robot model uses a legged locomotion system that has 18 degrees offreedom ( DOF ). The CPG based locomotion model is developed for controlling the gait cycle when the robot walks. The motions of joint angle inputs resulted from CPG model is simulated using SimMechanics 3D Animation and implemented on the proposed salamander robot for straight walking. Based on the result in both virtual reality simulation and experimental work using CPG locomotion approach, the predefined joint angle inputs in salamander robot can be used to drive the robot . The proposed CPG locomotion can mimic the walking of a real salamander naturally in straight walk . © 2019 Praise Worthy Prize S.r.l. - All rights reserved.

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18 DOF 3D Animation Central Pattern Generator ( CPG ) Robot Salamander

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International Review of Mechanical Engineering Volume 13, Issue 1, January 2019, Pages 70-77

Munadi, M.  Ariyanto, M.  Pambudi, K.A.  Setiawan, J.D. 

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ISSN: 19708734 Source Type: Journal Original language: English

DOI: 10.15866/ireme.v13i1.16464 Document Type: Article

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Inverse kinematics and reﬂex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain

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CPG-based control of smooth transition for body shape and locomotion speed of a snake-like robot

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CPG-Inspired Locomotion Control for a Snake Robot Basing on Nonlinear Oscillators

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A CPG system based on spiking neurons for hexapod robot locomotion

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Design and CPG-based control of biomimetic robotic ﬁsh

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Learning ﬁsh-like swimming with a CPG-based locomotion controller

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Motion control of a robot ﬁsh based on CPG

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Locomotion control for quadruped robot based on Central Pattern Generators

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Design and simulation of PID controller for lower limb exoskeleton robot

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Development of a low cost anthropomorphic robotic hand driven by modiﬁed glove sensor and integrated with 3D animation

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(8)

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El Hansali, H., Bennani, M.

(2017) International Review of Mechanical Engineering, 11 (3), pp. 200-207. .

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Cáceres, C., Puerta, J.F., Moreno, R.J., Rojas, D.A.

(2016) International Review of Mechanical Engineering, 10 (1), pp. 12-17. . doi: 10.15866/ireme.v10i1.7672

19

Gait kinematic modeling of a hexapod robot

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Design of a bio-inspired equine robot prototype

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International Review of Mechanical Engineering

Scopus coverage years: from 2009 to 2019 Publisher: Praise Worthy Prize

ISSN: 1970-8734 E-ISSN: 1970-8742 Subject area:

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8/23/2019 International Review of Mechanical Engineering (IREME)

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International Review of Mechanical Engineering (IREME)

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Jan Awrejcewicz, Technical University of Lodz Department of Automatics and Biomechanics, Poland

Prof. Dr. Ali Cemal Benim, Duesseldorf University of Applied Sciences, Germany

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Heuy-Dong KIM, Andong National University - School of Mechanical Engineering, Korea, Democratic People's Republic of

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8/23/2019 Vol 13, No 1 (2019)

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Application of Computational Fluid Dynamics in Piping Distribution System and Special Focus on the Arabian Peninsula: a Review

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Hammad Al Asemi, Aftab S. M. A., Rizal Zahari, Faieza Abdul Aziz, Kamarul Arifin Ahmad

1-10

Characterization of the Performance of Centrifugal Pumps Powered by a Diesel Engine in Dredging Applications

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Jorge Duarte Forero, Luis Lopez

Taborda, Antonio Bula Silvera 11-20 Numerical Investigations on the Effect of

Isothermal Multi-Jets in Air Curtains with LES Approach

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Rachid Sahnoun, Abdelkrim Liazid,

Khatir Naima 21-28

A Wear Formulation of Total Hip Prosthesis

for Salat Activity ^PDF

Eko Saputra, Iwan Budiwan Anwar,

Jamari J., Emile van der Heide 29-37 Mathematical and Numerical Modeling of

Microalgae Growth ^PDF

Abderrahmane El Kaihal, Fatima Kifani-Sahban, Imane Wahby, Kamal Gueraoui, Moad Mahboub, Abdeslam Mohcine, Samir Men-La-Yakhaf

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A Note on Anti-Roll Bar Effectiveness Full- Car Dynamics with Magnetorheological Damper Control

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8/23/2019 Vol 13, No 1 (2019)

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Tusset, Rodrigo Tumolin Rocha, Frederic Conrad Janzen, Adriano Kossoski, Mauricio Aparecido Ribeiro, Airton Nabarrete, Jose Manoel Balthazar

Optimization of Pilot Diesel Injection Timing on Load Variation Dual Fuel Diesel- CNG Engine on Combustions and

Emissions Characteristics

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Bambang Sudarmanta, Atok Setiyawan, Ary Bachtiar K. Putra, Dori Yuvenda, Jose da Silva

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Development of 18 DOF Salamander Robot Using CPG Based Locomotion for Straight Forward Walk

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Munadi M., Mochammad Ariyanto, Kharisma A. Pambudi, Joga D.

Setiawan

70-77

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5/19/2020 Application of Computational Fluid Dynamics in Piping Distribution System and Special Focus on the Arabian Peninsula: a Review | Al As…

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Application of Computational Fluid Dynamics in Piping

Distribution System and

Special Focus on the Arabian Peninsula: a Review

Hammad Al Asemi⁽¹⁾, Aftab S. M. A.⁽²⁾, Rizal Zahari⁽³⁾, Faieza Abdul Aziz⁽⁴⁾, Kamarul Arifin Ahmad^(5*)

(1) Department of Aerospace Engineering, Aerospace Malaysia Research Centre, Universiti Putra, Malaysia

(*) Corresponding author

DOI: https://doi.org/10.15866/ireme.v13i1.15801

Abstract

Drinking Water Distribution Networks are the life line for urban population. Disruption in services can cripple the system. In order to supply potable water, the authorities must stick to WHO guidelines. The major problems associated are contaminants, leakage and water hammer effects. The CFD studies discussed in the current paper have shown to provide, an insight on dealing with these issues. Further studies need to be carried out in order to properly use the available tools.

An integration of the available CFD tools with EPANET would be the right way to move forward. The majority of the researchers have implemented CFD in order to study the

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5/19/2020 Characterization of the Performance of Centrifugal Pumps Powered by a Diesel Engine in Dredging Applications | Duarte Forero | Interna…

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Characterization of the Performance of Centrifugal Pumps Powered by a Diesel Engine in Dredging

Applications

Jorge Duarte Forero^(1*), Luis Lopez Taborda⁽²⁾, Antonio Bula Silvera⁽³⁾

(1) Universidad del Atlántico, Colombia (2) Universidad del Atlántico, Colombia (3) Universidad de Norte, Colombia (*) Corresponding author

Abstract

In the dredging industry, centrifugal pumps are the cornerstone of performance and productivityin operation.

However, these characteristics are affected because the dredge operators are unaware of the response of the pump efficiency under operating conditions, as well as the fuel consumed by the engine that drives it. Experimental tests are discarded as a solution to this situation, due to its high cost and time requirements, presenting an opportunity for numerical analysis through computational fluid dynamics (CFD). In this paper, a Eulerian model based on the kinetic theory of granular flux is used to represent the multiphasic phenomenon. The turbulent standard k –ε model, along with a standard wall treatment with a dispersed approach was used to describe the turbulent flow. Experimental data obtained from operation includes depth of the submerged suction tube, rpm of the diesel engine, particle concentration and mass flow of the fluid. The comparison between the data acquired and the CFD results allowed to correlate the operating conditions

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5/19/2020 Mathematical and Numerical Modeling of Microalgae Growth | El Kaihal | International Review of Mechanical Engineering (IREME)

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Mathematical and Numerical Modeling of Microalgae

Growth

Abderrahmane El Kaihal⁽¹⁾, Fatima Kifani-Sahban⁽²⁾, Imane Wahby⁽³⁾, Kamal Gueraoui^(4*), Moad Mahboub⁽⁵⁾, Abdeslam Mohcine⁽⁶⁾, Samir Men-La-Yakhaf⁽⁷⁾

(1) Mohamed V University, Rabat-Agdal, Morocco (2) Mohamed V University, Rabat-Agdal, Morocco (3) Mohamed V University, Rabat-Agda, Morocco (4) Mohamed V University, Rabat-Agdal, Morocco (5) Mohamed V University, Rabat-Agdal, Morocco (6) Mohamed V University, Rabat-Agdal, Morocco (7) Mohamed V University, Rabat-Agdal, Morocco (*) Corresponding author

Abstract

This work concerns the mathematical and numerical modeling of microalgae growth in a photobioreactor. The model used is based on the one developed by Okpokwasili and Nweke in 2005, which is used to describe the influence of nutrients on the growth rate of microalgae. Okpokwasili and Nweke proposed two expressions to calculate the growth rate influenced by several limiting factors. In this work, a material balance and an energy equation are associated with the above-mentioned model in order to describe the change in concentration of algal biomass, nitrogen, phosphorus and inorganic carbon in the culture medium, assuming that the temperature and light intensity are constant. The Runge-Kutta method is used to solve the system of energy and mass equations. The presented model can be used for the simulation and the prediction of algal biomass growth over time. A simulation has been made by experimental data completed by data from literature for the two expressions of

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Development of 18 DOF salamander robot using CPG based locomotion for straight forward walk

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International Review of Mechanical Engineering

Scopus coverage years: from 2009 to 2019 Publisher: Praise Worthy Prize

ISSN: 1970-8734 E-ISSN: 1970-8742 Subject area:

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0.217 

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CiteScore CiteScore rank & trend CiteScore presets Scopus content coverage

CiteScore

0.60

Citation Count 2018 Documents 2015 -

2017*

2018

▻ 171 Citations 285 Documents ▻

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CiteScoreTracker 2019

0.77

Citation Count 2019 Documents 2016 - 2018

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▻ 256 Citations to date

▻ 331 Documents to date

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0.60 ^

0.217 ^

0.483 ^