Bionic Handling Assistant: Learning Inverse Kinematics of an Elephant Trunk Simulation

Bionic Handling Assistant
Research Paper
Learning Inverse Kinematics of an Elephant Trunk Simulation
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Bionic Handling Assistant
Learning Inverse Kinematics of an Elephant Trunk Simulation
Outline
Do Visualization of Bionic Elephant Trunk allows the Efficient Reach ability to
reach the target position?
I Introduction
The concepts of kinematics are widely used in the developing the modern technology for the advanced
robots. . In this series Bionic Handling Assistant is a new robotic platform for developing the modern robots. The
Bionic Handling assistant is developed by the Festo. The Bionic handling assistant is an elephant trunk robot.
Basically the structure of the BHA is manufactured following the concepts of the rapid prototyping methods applied
for 3-D printing. The main task of the BHA is to work as a light weight free moving third hand system. The Bio
tonic handling assistant performs the collaborative activities as well teaching the physical activities of the robot, it
also supports assembly processes and support in handling damageable substances too. This robot is pneumatically
actuated and is manufactured completely with the help of elastic polyamide substance that helps the BHA to become
very flexible and light weight. In robotics the motor learning is very significant in studying the important elements
in robotics as it helps in providing the advance features in the robotics. Currently new generation robots combine the
feature of the mechanical flexibility, elasticity of the material and studying the actuation light weight for the material
used in designing the robotics. According to the study the actuator of the current robots are inspired by the
biological actuator such as Octopus Arm, Elephant Trunk and human biomechanics. That provides the advance
capability for the Robot to have interaction between the robots and the world.
In the artificial systems the analysis is convent ally termed as “motor babbling” where the commands of
the motor are selected in the random manner and results of its behaviour are studied. This theory becomes
irrelevant with respect to the advance robotic machines due to increasing dimension of the sensor motor space. This
required developing more active schemes for supporting the requirement of the modern robotic systems. In this
respect the new technique –“Goal Babbling “approach was introduced. With the help of Goal Babbling approach the
in getting the good results in the world experiments conducted on the non-stationery robot, traditional feedback
control, actuation ranges, drifting sensors and morphological changes in robots were able to study. This also helped
in eliminating the problem of non-stationary and other problems associated with actuation. That provides the
advance capability for the Robot to have interaction between the robots and the world. Most importantly it provides
a great scope of interaction of robot with the human being. But the down side of this feature is that the biologically
inspired design are studied with the help of analytical models for their control and it currently are hardly available,
this fact inspired us to perform the in depth study in this field.
As it is evident that most of the robotic application depends on the task space controller as the main
objective of these controller is to guide the end effectors trajectory of the robotics. As it is evident that these
controllers can act directly on the actuator space a casual mapping between the task space and the actuator space is
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Bionic Handling Assistant
expected. With the help of the concepts of the Kinematics the derivation of the task space coordinates for the
actuator are derived. Inverse kinematics is extensively used for studying the analytical and machine learning
methods for developing the advance robotics system .It is difficult to develop the model for its model The soft
robots are difficult to develop its model due to its infinite degree of freedom and elastic nature. According to current
study the concepts of the machine learning were found helpful in designing the model for robotics to some extent as
these concepts help to reduce the complexity of designing. In robotics these data are used in studying the kinematics
with developing the kinematics equations. That further help to determine the joint parameters that provide the
specification of the position of the end-effectors for the robot Though study of the kinematics for developing the
advance robotics system provide great support but still there are two major problems associated with it, firstly there
exists an infinite number of possible solutions for the non-inverse homogenous kinematics equation for the
redundant system and secondly the problem of the non –convexity of the solution set.
The software abstraction of the inverse Kinematics has been performed and simulation of the inverse kinematics has
been done with the help of the C++ code. The wonderful results were obtained through this code. This code is
available as open source. It also helps in solving the Bionic handling assistant for solving the control problems in the
robots. This algorithm study also helped in studying the machine learning concepts for the robots. Along with this
the adaption of the MATLAB has also provided a great support in achieving the benefits of kinematics (K. Hosed,
S. Sekimoto, Y. Nishigori, S. Takamuku, and S. Ikemoto, 2012)
II Scope
Cognitive Robotics is an advance field in which advance technologies are incorporated to provide an
important feature in the Robots that they can learn from the environment, from human teachers and from their own
experience. This feature in the in cognitive robots provide the ability of effectively handling the situation in the
environment/The main objective of designing these robots is to provide them capability to react appropriately in the
real life situations. In cognitive technology the main features are expected to be given in the robots are as follows-
 Machine Vision
 Voice Recognition
 Speech Synthesis
 Proximity synthesis
 Pressure sensing
 Texture Sensing
 Programmable motion
 Anticipation and planning
 Imitating particular motion
 Ability to learn mistakes
 Acquisition of knowledge for long term use
 Ability to explore
With the help inverse kinematics concepts in Bionic Handling Assistant the features have been incorporated. Here
in this research the detailed study of the Bionic Handing Assistant will be done. The main objective of this research
Study is to learn about the advance feature of Bionic Handling Assistant and how it can be helpful in designing the
modern robots. Most importantly in this research study the efficiency of the available codes in C++ /MATLAB for
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Bionic Handling Assistant
simulation in inverse Kinematics for Bionic Handling Assistant will be studied. In c++ these codes are available at
the open source. Along with this the limitation of these codes in providing the efficiency to the Bionic Handling
Assistant` will be explored.
III Research Questions
As discussed in the Scope section there are various elements to perform the study in the cognitive robotics and
application of inverse Kinematics in designing the Bionic Handling Assistant. It is a newly designed robotics
environment and has provided a great support in designing the modern robots too. In this research study following
research questions will be studied-
1. What are cognitive robotics and its impact on modern robotics?
2. What is the application of the inverse kinematics in designing the modern robots?
3. What is Bionic Handling Assistant?
4. What are the technologies that are used in designing the Bionic Handling Assistant?
5. How can simulation technology be used in designing effective Bionic Handling Assistant?
6. What is efficiency of the available codes in C++ /MATLAB for simulation in inverse Kinematics
for Bionic Handling Assistant?
7. What are the limitation of these codes in providing the efficiency to the Bionic Handling
Assistant`?
The above discussed questions will be tried to explore in this research study in the detailed manner.
IV Bionic Handling assistant
Fig1:Bionic Handling assistant
In the first appearance the Bionic Handling Assistant looks like a flexible gripper arm which is designed as an
elephant trunk to work on it. This platform is used as development platform for robotics where wide range of
technologies and components are combined to develop the modern robotic systems. It works in a freely moving,
easy and in flexible manner. It is also safe if there is direct contact between the human being and the machine. It has
safety mechanism in case of accidental collision. It also serves as a multi-technology platform for the simultaneous
development of the electronics, mechanics and software for the advance machines. It has also the feature of image
and speech detection function that makes it more usable in designing the advance robotic systems. It does not
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