Dr.

Ashish Dutta
Associate Professor
Dept. of Mechanical Engineering
Indian Institute of Technology Kanpur, INDIA
Humanoid robot design with soft
sole and springs for applications
in optimal multi agent systems

Evolution of multi agent systems from

wheeled robots to legged robots, UAVs, etc

Optimal multi agent system using mobile

robots

Design of energy optimal humanoid robot

with soft sole and springs as agents.

Other related research on exoskeleton,

orhtosis, etc.

The idea of Multi agents (swarm robots) has

been borrowed from nature, emulating ant
colonies, bee hives, etc.

The basic idea is to be able to perform a

cooperative task that cannot be performed
by one individual robot.
Fig. Mobile robot as agent.
Fig. Two or more agents
pushing an object.

Mobile robots coordination, net working,

path planning.

Mobile robots were not necessarily

optimized.

Mobile robots do not require balance and

are generally stable.

Newer types of agents: UAV, underwater

agents, bio-agents, humanoids, etc.
Fig. Upper torso Humanoid that does not require balance.

Fig. Quadrupeds agent
Fig. Four legged and biped cooperation
Wang and Kumar (2002) used the potential
field method to obtain object closure using a
large number of robots.
Sugar and Kumar (1998) proposed
decentralized control of cooperating mobile
manipulators.
goal
object
mobile
robots

A large number of robots have been used

(e.g. 100 or more) and capture points not
optimal.

Leader follower or potential field

approaches have been used for the robot
motion.

The dragging of the object is not optimized.

Obstacle avoidance is not considered.

Why use a large number of robots if the task can be

done by few robots?

Reduce energy consumption and Networking issues?

Vary number of robots if required.

a. Optimal capture of a moving object using the
minimum
number of robots.
b. Optimally pushing the captured object to the goal
point.
Problem formulation: Given an object with n points on its
boundary, it is required to find the optimal grasp points
for satisfying form closure.
C.G.
1
6
13
20
Mobile Robot
10000100001000000100000010000 Binary String
1 : Robot present
0 : Robot absent
GA based optimization using an objective function with
constraints.
1
cw ccw
k
cw ccw
M M
f
N N N
_
+ _

+
,
,
Prismatic Object
C.G.
1
6
13
20
Maximize
Moment is calculated by
assuming unit normal force
applied by robots.
N : Total No. of Robots
M
cw
: Sum of CW moments
M
ccw
: Sum of CCW moments
k : parameter for
controlling No. of agents.
Visibility angle () should be null
( ) ( ) { }
{ }
1 2
.....
i
n

i+1 i i i-1
r - r , r - r
Visibility angle is the common angle between all
freedom angles()
This constraint takes care of translation inaccessibility.
3
freedom
angles
1
3
1
No angle left uncovered
4
2
4
2
3
freedom
angles
1
3
1
4
4
small angle left uncovered
There should be robots creating moments in both the direction about C.G.
Feasible solution Non-feasible solution
C.G.
CW
CCW
CCW
C.G.
CW
CW
CW
This constraint takes care of rotation inaccessibility.
- No two robot approaches the same edge.
- Robots envelop never intersect with each
other on the object boundary.
Huge negative penalty (say -1e20) is imposed if
any of the constraint is violated.
Non-feasible solution
Object

Simulation is carried out in MATLAB

TM
using
the Genetic Algorithm.

A Binary String is used as design variable.

Population Size 52, Mutation probability

0.12, Crossover Probability 0.8

Constraint violation attracts huge negative

penalty (say -10
20
).

Avg. simulation time is around 300 second,

with Intel-P4 Machine.
Fig. Results of simulation
Parameter k in
optimization function is
varied to get different
solution with different no.
of robots for same object.
Variation of number of robots with constant K

1 2 3
.( ..... )
.
n
f
f
+ + + +

D F F F F
D F
Desired
direction of
motion (D)
Robots participating in
pushing
Robots not sharing any load
Maximize
Fi
.. (1)
Problem formulation for
pushing

Gordy GA code is used to optimize eq (1)

7
24
19
29
16
13
1
000000000000000100100001000010
Binary String

D
F
3
F
2
F
1
F
4
D
F
F
3
F
2
F
1
F
4
D
F
F
3
F
2
F
1
F
4
(a) (c) (b)
D
- 1 0 - 5 0 5 1 0 1 5 2 0 2 5 3 0 3 5 4 0
- 2 0
- 1 5
- 1 0
- 5
0
5
1 0
1 5
2 0
2 5
Co pyrig ht: Pa nka j S harma, Dr.Anupam S a xe na and Dr. As his h Dutta , IIT Ka npur

Non-holonomic mobile robots with two

wheels independently driven were
developed.

Each mobile robot worked as an agent

controlled by wireless communication with
the central computer.

Overhead vision based coordination.

An algorithm was proposed for the optimal

capture and transfer of a moving object to a
desired goal, using the minimum number of
mobile robots.

The advantages as compared to earlier methods

are that resources are minimized and it leads to
lesser deadlocks and networking time.

Biped: A two legged robot with 8 or more

DOF for walking .

GAIT: A fixed pattern of foot placements

Trajectory: The path (optimal?) taken by the

free foot to come from the rear to the front .
3. Humanoids as agents

Energy optimal trajectory generation for

cooperation with human / robot / agent.

Energy savings considering deformation of soft

sole or ground on biped stability.

New design considering springs at the joints for

reduced energy consumption.

Modes of cooperation in Multi agent systems.

Lateral plane Front plane
Isometric view

Using DAlemberts
principle:

- Where m
i
is the
mass of each link and
r
i
are the position
vectors.

+ + 0 ) ( ) ( T G r X r r m i p i i

The ZMP approach is used to find the stable configuration during the
GAIT.

The ZMP is the point where the sum of all the forces and the moment of all
the masses of the biped is zero.

The ZMP moves forward in the direction of the locomotion.

is the joint angle from x
i-1
axis to the x
i
axis about the z
i-1
axis.
d
i
is the distance from the origin of the (i-1)
th
coordinate frame to the intersection of the z
i-1
axis with the x
i

axis along the z
i-1
axis.
a
i
is the shortest

distance between z
i-1
and z
i
axes.
is the offset angle from the z
i-1
axis to the

z
i
axis about the

x
i
axis.
i

Euler-Lagrangian equation
where
L is Lagrangian function, and is given by

KE is total kinetic energy of the biped robot,
PE is potential energy of the biped robot,
is generalized coordinates of the robot arm,
is first time derivative of the generalized coordinates,

i
is the torque applied to the system at joint into drive link i.
i = 1, 2, 3, . . . .8
i
i i
d L L
for
dt

_ _



, ,

8
1
i i
i
L KE PE

( )
( )
( )
..
( ) , t + + D h c

where ,
corresponds to inertial acceleration
related symmetric matrix
is the non-linear centrifugal force vector.
is the gravity loading force vector.
is the torque applied at joint
( )
D
( )
, h

( )
c
( ) t
The dynamic equation can be further modified by taking the reaction force
into account
where
The component is given by
where
N
2
is calculated using

( ) ( ) ( )
..
( ) , ( )
t r
t + + D h c K t

1 2, 8
( , ....... )
T
t t t t
(2) 2, 3,...., 7
(3) 1, 8
i
i
i
for i
t
for i

'

T
M
0
2
( ) i=2,3,....7
i i i
for T R a N
2
( ) i=1 and 8
i i
for M a N
Link i
8
0
1
( )
i i
i
m

+
2
OA N r g 0

Energy optimal trajectory is found using GA.

Intermediate points are obtained using GA

i

p
q

t
f
Time (sec)
Joint Angle (rad)
3
0
1, 2,.........8
k
j jk
k
C t for j

where C
jk
is constant.
| | | | W dt

Objective function
Work done involves

Finding the joint angle, the joint velocity and the joint acceleration.

Finding Torques by using the dynamic equations

ZMP should always be inside the supporting polygon,

Free foot should never go inside the ground,

The hip joints should always move forward

The hip joints should not come below the specified height

Variation of each angle is a cubic spline.

Given the starting and end points, two

intermediate points are decided.

Constraints -
a) Foot should not go below the ground
b) ZMP should be inside the foot
c) Min height of the hip is specified
d) Hip should move forward

The total work done is minimized by

checking the constraints.

In case of violation of a constraint a large

penalty is added to the function value.

Using Lagrangian-Euler formulation,

dynamic equations can be written as:

dt d done work | |

( ) ( , ) ( ) D H C + +

8 DOF Robot
Angle assignment
Parameters:
Population Size :50
Crossover ratio:0.95
Mutation ratio:0.05
Iterations : 280
Link Length:0.25 m
Step Length:0.25 m
obstacle
Parameters:
Population Size :50
Crossover ratio:0.95
Mutation ratio:0.05
Iterations : 190
Link Length:0.25 m
Step Length:0.25 m

Trajectory are computed on assumption

that sole and ground are perfectly rigid.

Effect of soft sole can be detrimental to

bipeds stability.

If the force distribution

is as shown:
Total Reaction Force
Centroid of trapezium =
( )
1 2
2
d
F F +
2 1
2 1
(2 )
3( )
cg
d F F
d
F F
+

+
Frontal Plane

By balancing the forces and moments

about point B

Solving these equations, we get:

( )
( )
( )
1 2
2 1
1 2
1 2
2
(2 )
2 2 3
d
F F F
d d d F F
F T F F
F F
+
+
+ +
+
1
2
2
2
6
6
F T
F
d d
F T
F
d d

If the force distribution

is as shown:

Reaction Force
Distance of centroid
1
2
Fd

3
d

Balancing forces and moments, we get:

Solving these equations

1
1
2
2 2 3
Fd
F
Fd Fd d
T

+
1
3
2 2
3
2
F
F
d T
F
d T
d
F

,
_

Due to uneven force

distribution, one side
of sole deforms
more, resulting in an
angle

It effects as if one
more DOF

Intended becomes
+
F = Kx ; where k = YA/ h
X = deformation, A= area of foot,
h= thickness of sole, Y = modulus of
elasticity.

F1
F2
F
T
Iterative method
for finding
new
computed joint angle
for ZMP inside foot
polygon=
Required Torque
(from dynamic model)
corresponding sole deformation =
total angle due to deformation
error =
0
zmp
0
d
= T
0
zmp
zmp
c
0
=
0
zmp
0
d
+
zmp
0
c
c
0
zmp 0
d
0
zmp
0
zmp
0
d
-
(
)
+
=
+
(
)
error < 0.01
IF
zmp
corrected angle =
0
NO
YES
Fig. Correction
procedure for
deformed
angle

Material which gives

feasible
new
are
suitable for sole

For balance in
frontal plane,
new

for different
materials are:
Youngs
Modulus
N/mm2
Final value
of angle 1
(Starting
value =
25)
5000 -23.34
6000 26.0944
7000 25.3365
8000 25.1805
9000 25.0383
E
N/mm2
Actual
angle
2(35.58
)
5000 -
34.85
31
10000 -
35.21
77
50000 -
35.50
93
100000 -
35.54
58
150000 -
35.57
49

It has been proved that the deformation of

the sole is affected mainly by the torque in
the first ankle joint.

This may be due to two reasons:

- The torque is maximum at this joint.
- The foot is longer in the lateral plane
for this robot.

The trajectory has been computed in the

following steps:
a) Compute the ZMP and make correction
only to the first joint.
b) Find the optimal trajectory for the other
joints using GA, for a given step length.
Fixed foot
Free foot
Energy per step without
deformation
= 3.87 W
Energy per step with
deformation
= 2.91 W
8DOF Biped with Springs at
the joints

All the joints are revolute

The link length are equal except

for the hip link

The ankle has two DOFs

The knee has one DOF

The hip joint has one DOF

Design of a biped with torsional

springs at the joints similar to
biological joints with compliance.

Determination of energy optimal

trajectories.

Determination of optimal stiffness

and reference angles of the
springs.
( )
( )
( )
..
( ) , t + + D h c

where ,
corresponds to inertial acceleration
related symmetric matrix
is the non-linear centrifugal force vector.
is the gravity loading force vector.
is the torque applied at joint
( )
D
( )
, h

( )
c
( ) t

In this work the torsional spring acts as the energy absorber and absorb the
energy in the potential form.

The flexible joint can reduce the work done during the gait

Where
corresponds to the torsional stiffness of the spring
corresponds to the reference angle.
( )
( )
( )
..
( ) , ( )
t r
t + + D h c K

t
K
r

1 2 8
[ , ,....., ]
T
t t t t
K K K K
a) Optimal trajectory for the rigid robot with
no spring
a) Optimal trajectory of robot with same
stiffness at each joint.
a) Optimal trajectory of robot with optimal
individual joint stiffness
a) Optimal trajectory for optimal instance
position, individual stiffness at each joint,
reference angle and initial orientation.

Link length, L = 0.2 m

Hip length, h = 0.14 m

Step length = 0.2 m

Mass matrix = [0 1.3122 1.3122 2.7128 1.3122 1.3122 0 1.3348] Kg

Length of the foot = 0.2 m

Width of the foot = 0.07 m

Without loss of generality the fixed foot is taken as the origin.

The hip height has taken to be 0.32m.

The initial tilt of the biped is taken to be pi/9 and fixed all along the
simulation

The distance of the free foot and hip joint is 0.1m and 0.05m on both the
side

Reference position of the torsion spring is [0 0 /2 /2 3 /2 - /

2 0 0]rad
K=0.25 Nm/rad, WD=5.4140 Watt K=0.5 Nm/rad, WD=4.3976 Watt K=1 Nm/rad, WD=5.7027 Watt
K=1.5 Nm/rad, 6.1584 Watt K=2 Nm/rad, WD=8.4929 Watt K=3 Nm/rad, WD=10.7429 Watt
K=0.25 Nm/rad, WD=5.6363 Watt
K=0.5 Nm/rad, WD=3.9654 Watt K=1 Nm/rad, WD=4.1297 Watt
K=1.5 Nm/rad, WD=4.2784 Watt K=2 Nm/rad, WD=6.6247 Watt
K=3 Nm/rad, WD=7.4129 Watt
K=0.25 Nm/rad, WD=4.1442 Watt K=0.5 Nm/rad, WD=3.5275 Watt K=1 Nm/rad, WD=4.6562 Watt
K=1.5 Nm/rad, WD=4.6793 Watt K=2 Nm/rad, WD=4.9295 Watt K=3 Nm/rad, WD=8.4450 Watt
The red, blue and green colored graph shows the variation of the work done with the
time step of 0.5, 1 and 2 sec respectively.

GOAL
To determine the optimal individual joint stiffness for obtaining
energy optimal gait

GA Parameters
Population size was set to 200,
Maximum number of iterations was set to 4000,
Crossover probability = 0.95, and
Mutation probability = 0.05.
WD=3.8577 Watt
WD=3.4036 Watt WD=5.8366 Watt
Table 6.1:Stiffness at different joints
Joint No. 1 2 3 4 5 6 7 8
Stiffness
(Nm/rad)
Set 1 0.3838 1.3471 2.7807 2.1294 0.2171 0.7128 0.5361 2.8608
Set 2 2.4627 0.2471 2.1926 0.9228 0.5223 0.6539 2.4460 1.7384
Set 3 2.8773 0.5322 1.9642 1.5793 0.5955 0.2332 2.7530 0.7708
Average 1.9079 0.7088 2.3125 1.5438 0.4450 0.5333 1.9117 1.7900
GOAL: To Determine
Individual joint stiffness
The reference position of the torsional spring
The initial and final stances
The tilt angle of the biped robot

GA parameters
Set no. Population size Maximum number of
iterations
Crossover
probability
Mutation
probability
Set1 50 4000 0.95 0.05
Set2 500 2000 0.95 0.05
Set3 200 2000 0.95 0.05
WD=2.1605 Watt WD=1.8273 Watt WD=2.28Watt
Stiffness at different joints
Joint No. 1 2 3 4 5 6 7 8
Stiffness
(Nm/rad)
Set 1 0.9587 1.7148 0.8393 2.9919 2.7364 0.6546 1.1190 2.1605
Set 2 2.65 1.4582 0.1581 2.5154 1.5139 1.0267 1.0901 1.6588
Set 3 2.3227 0.2807 0.7013 0.0953 2.8591 2.8329 1.2758 0.2723
Average 1.9771 1.1512 0.5662 1.8675 2.3698 1.5047 1.1616 1.3638
Optimal stiffness of torsional springs at different joints
Optimal reference angles at different joints
Reference angles at different joints
Joint No. 1 2 3 4 5 6 7 8
Angle
(rad)
Set 1 -0.0561 -1.2783 1.8674 -0.98 3.5185 -0.3786 1.1394 -0.3239
Set 2 -0.0082 -1.0817 1.8844 -0.8675 3.6571 -0.4165 1.5070 -0.1918
Set 3 -0.1075 -1.5424 1.9564 -0.0056 3.3750 -0.9179 0.9242 -0.3080
Average -0.057 -1.301 1.902 -0.206 3.5169 -0.571 1.1902 -0.275
Optimal Stance for T=1 sec
Free Foot Hip
Initial Stance (m)
a
Final Stance (m)
b
Initial Stance (m)
c
Final Stance (m)
d
Height
(m)
Set 1 -0.0948 0.1072 -0.0561 0.0502 0.2978
Set 2 -0.0805 0.0852 -0.0469 0.0402 0.3060
Set 3 -0.0966 0.1090 -0.0512 0.0467 0.2928
Average -0.0906 0.1004 -0.514 0.0457 0.298
Initial Stance and Final Stance Position
Initial Orientation (
1
) in radian
Set 1 -0.4397
Set 2 -0.4201
Set 3 -0.4510
Average -0.437
Initial Orientation of Biped

As the time for GAIT increases from 0.5 sec to 2 sec the
work done reduces from 6.9538 Watt to 4.3495 Watt for
rigid case.

For a time step of 0.5 sec, 1 sec and 2 sec the minimum
work done is 4.3976 Watt, 3.9654 Watt and 3.5275 Watt
respectively when the stiffness at each joint is 0.5 Nm/rad

For optimal stiffness at each joint the minimum work done

is 3.4036 Watt.

Optimizing all the parameters namely stance position,

stiffness at each joint, reference angle and initial tilt the
minimum work done is 1.8273 Watt
1. Performing a task in coordination (with
force /moment interaction)
2. Performing a task in formation (no forces /
moments involved)
3. Others (interacting with people using vision,
speech etc.).

Concept of ZMP is valid only for one biped.

In case of multiple bipeds the conditions of

balance are not very clear.

One idea is to ensure that the ZMP is in

between all the biped and environment
contact points.

What happens if one robot looses contact?

The system is balanced as long as the ZMP is

inside the common feet polygons.

Sensory information determines position of

the common object / environment (inclination
or vision sensors)

Major concern is the time of convergence :

days !

Interaction is still highly constrained.

Future is to develop real time control

algorithms.
Finger exoskeleton for rehabilitation
of stroke patients

Design optimal mechanical system

Use EMG from muscles

Use EEG from brain as a switch for

activation.
DEPARTMENT OF ELECTRICAL ENGINEERING
Proximal Phalanx Four Bar
DEPARTMENT OF ELECTRICAL ENGINEERING
Middle Phalanx Four Bar
DEPARTMENT OF ELECTRICAL ENGINEERING
Distal Phalanx Four Bar
DEPARTMENT OF ELECTRICAL ENGINEERING
Index Finger Four Bar
DEPARTMENT OF ELECTRICAL ENGINEERING
Index Finger Four Bar
Objective:
To design the Optimized Exoskeleton for the Index finger based on Four Bar
Design using Path Generation
GA Optimization Details:
Iterations: 4000 for each four bar
Population Size: 100
Generation: 700
Cross-Over Fraction: 0.8
DEPARTMENT OF ELECTRICAL ENGINEERING
Proximal Phalanx Four Bar (contd)
Error = 1.9 cm2
DEPARTMENT OF ELECTRICAL ENGINEERING
Middle Phalanx Four Bar (contd)
DEPARTMENT OF ELECTRICAL ENGINEERING
Distal Phalanx Four Bar (contd)
Reconfigurable prosthetic socket

(a)heel contact (b)mid stance (c) toe off


extension
moment at the
knee
ground
reaction force
vector
A
C
B
D
Fig.1 Diagram of walking cycle with lower
limb prosthesis& Design concept of the MR
socket
Fig.14
Two main problems:
1. Misalignment
2. Change in stump
size
Fig. 15 Correction of misalignment of the socket.
Instrumented socket with
slip and force sensors
Slip
Sensors

(b) 63[kPa]
(a) 38[kPa]

PT(L) 0.72
PT(C) 0.63
PT(M) 1.54
HF 1.81
TL 1.72
TC 1.09
TM 1.54
TL 1.54
TC 1.45
TM 1.63
TL 1.54
TC 1.81
TM 1.36
FP 3.81
FP 3.36
FP 3.36
FP 3.18
Average 1.89

PT(L) 0.54
PT(C) 0.36
PT(M) 0.54
HF 0.72
TL 0.72
TC 0.54
TM 0.81
TL 0.54
TC 0.72
TM 0.90
TL 0.72
TC 1.09
TM 1.00
FP 2.27
FP 2.18
FP 2.45
FP 1.90
Average 1.37


VAS 0 1 1 2
2 3
3 4 4 5 5 6
6 7 7 8
(a) (b)
patellar tendon
tibial crest
fossa poplitea
stump end
tube fittings
0
5
10
15
0 50 100 150
pressure [kPa]
d
i
s
p
l
a
c
e
m
e
n
t

[
m
m
]
0[T]
0.12[T]
0.12[T]2
0.12[T]3
0.12[T]4 0[T]
0.12[T]
0.24[T]
0.36[T]
0.48[T]
Rigid
socket
Soft
Flexible
socket
Active
socket

Two rovers and a Lander on the moon.

Navigation

Kinematics , Dynamics and Control.

System of systems