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 Presentation of Robotics (2)
Supervised by:
DR. Fadhl M. Alakwaa PhD
25 January 2023
Presented by : Akram Elhadi Ahmed Helmy
25 January 2023
Presented by : Akram Elhadi Ahmed Helmy
 There are two ways to balance a robot body,
namely static balance and dynamic balance.
25 January 2023
Presented by : Akram Elhadi Ahmed Helmy
25 January 2023
Presented by : Akram Elhadi Ahmed Helmy
 Quantifying dynamic stability—dynamical systems
theory:
The field of dynamical systems provides an established methodology to
quantify stability
25 January 2023
Presented by : Akram Elhadi Ahmed Helmy
 The first task in the quantification of stability is to decide on what is
best to measure.
 The goal is to specify a set of variables such as positions and
velocities that completely define the state of the system.
25 January 2023
Presented by : Akram Elhadi Ahmed Helmy
 Periodic orbit or limit cycle. (A). Variation in a single state variable, lateral
velocity over one stride. A cycle is present within which lateral velocity
repeats from t to t+1.
 (B). Periodic orbit showing a limit cycle in state space. Lateral, rotation, and
fore-aft velocity oscillate following a regular trajectory over a stride. Any
point in the cycle can be considered an equilibrium point (star) of the
associated return map.
25 January 2023
Presented by : Akram Elhadi Ahmed Helmy
 The Creep
25 January 2023
Presented by : Akram Elhadi Ahmed Helmy
 Walk
25 January 2023
Presented by : Akram Elhadi Ahmed Helmy
 The Trot
25 January 2023
Presented by : Akram Elhadi Ahmed Helmy
 Running Gaits
Galloping:
25 January 2023
Presented by : Akram Elhadi Ahmed Helmy
Flying:
25 January 2023
Presented by : Akram Elhadi Ahmed Helmy

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prsentation_2.ppt

  • 1.  Presentation of Robotics (2) Supervised by: DR. Fadhl M. Alakwaa PhD 25 January 2023 Presented by : Akram Elhadi Ahmed Helmy
  • 2. 25 January 2023 Presented by : Akram Elhadi Ahmed Helmy
  • 3.  There are two ways to balance a robot body, namely static balance and dynamic balance. 25 January 2023 Presented by : Akram Elhadi Ahmed Helmy
  • 4. 25 January 2023 Presented by : Akram Elhadi Ahmed Helmy
  • 5.  Quantifying dynamic stability—dynamical systems theory: The field of dynamical systems provides an established methodology to quantify stability 25 January 2023 Presented by : Akram Elhadi Ahmed Helmy
  • 6.  The first task in the quantification of stability is to decide on what is best to measure.  The goal is to specify a set of variables such as positions and velocities that completely define the state of the system. 25 January 2023 Presented by : Akram Elhadi Ahmed Helmy
  • 7.  Periodic orbit or limit cycle. (A). Variation in a single state variable, lateral velocity over one stride. A cycle is present within which lateral velocity repeats from t to t+1.  (B). Periodic orbit showing a limit cycle in state space. Lateral, rotation, and fore-aft velocity oscillate following a regular trajectory over a stride. Any point in the cycle can be considered an equilibrium point (star) of the associated return map. 25 January 2023 Presented by : Akram Elhadi Ahmed Helmy
  • 8.  The Creep 25 January 2023 Presented by : Akram Elhadi Ahmed Helmy
  • 9.  Walk 25 January 2023 Presented by : Akram Elhadi Ahmed Helmy
  • 10.  The Trot 25 January 2023 Presented by : Akram Elhadi Ahmed Helmy
  • 11.  Running Gaits Galloping: 25 January 2023 Presented by : Akram Elhadi Ahmed Helmy
  • 12. Flying: 25 January 2023 Presented by : Akram Elhadi Ahmed Helmy