Structural and material optimization for automatic synthesis of spine-segment mechanisms for humanoid robots with custom stiffness profiles
Authors:
- Adam Ciszkiewicz,
- Grzegorz Milewski
Abstract
Typical artificial joints for humanoid robots use actual human body joints only as an inspiration. The load responses of these structures rarely match those of the corresponding joints, which is important when applying the robots in environments tailored to humans. In this study, we proposed a novel, automated method for designing substitutes for a human intervertebral joint. The substitutes were considered as two platforms, connected by a set of flexible links. Their structural and material parameters were obtained through optimization with a structured Genetic Algorithm, based on the reference angular stiffnesses. The proposed approach was tested in three numerical scenarios. In the first test, a mechanism with angular stiffnesses corresponded to the actual L4–L5 intervertebral joint. Scenarios 2 and 3 featured mechanisms with geometry and structure comparable to the joint, but with custom stiffness profiles. The obtained results proved the effectiveness of the proposed method. It could be employed in the design of artificial joints for humanoid robots and orthotic structures for the human spine. As the approach is general, it could also be extended to different body joints.
- Record ID
- CUTe830c77a0394437e95965766d1b192be
- Publication categories
- ;
- Author
- Journal series
- Materials, ISSN , e-ISSN 1996-1944, Biweekly
- Issue year
- 2019
- Vol
- 12
- No
- 12
- Pages
- [1-13]
- Other elements of collation
- rys.; tab.; wykr.; Bibliografia (na s.) - 11-13; Bibliografia (liczba pozycji) - 50; Oznaczenie streszczenia - Abstr.; Numeracja w czasopiśmie - Vol. 12, Iss. 12
- Keywords in English
- structure optimization, parameters estimation, material optimization, intervertebral joint
- DOI
- DOI:10.3390/ma12121982 Opening in a new tab
- URL
- https://www.mdpi.com/1996-1944/12/12/1982 Opening in a new tab
- Language
- eng (en) English
- License
- Score (nominal)
- 140
- Additional fields
- Indeksowana w: Web of Science, Scopus
- Uniform Resource Identifier
- https://cris.pk.edu.pl/info/article/CUTe830c77a0394437e95965766d1b192be/
- URN
urn:pkr-prod:CUTe830c77a0394437e95965766d1b192be
* presented citation count is obtained through Internet information analysis, and it is close to the number calculated by the Publish or PerishOpening in a new tab system.