Indiana University-Purdue University Indianapolis (IUPUI) / There have been many endeavors to design humanoid robots that have human characteristics such as dexterity, autonomy and intelligence. Humanoid robots are intended to cooperate with humans and perform useful work that humans can perform. The main advantage of humanoid robots over other machines is that they are flexible and multi-purpose. In this thesis, a human-like robotic arm is designed and used in a task which is typically performed by humans, namely, catching a ball. The robotic arm was designed to closely resemble a human arm, based on anthropometric studies. A rigid multibody dynamics software was used to create a virtual model of the robotic arm, perform experiments, and collect data. The inverse kinematics of the robotic arm was solved using a Newton-Raphson numerical method with a numerically calculated Jacobian. The system was validated by testing its ability to find a kinematic solution for the catch position and successfully catch the ball within the robot's workspace. The tests were conducted by throwing the ball such that its path intersects different target points within the robot's workspace. The method used for determining the catch location consists of finding the intersection of the ball's trajectory with a virtual catch plane. The hand orientation was set so that the normal vector to the palm of the hand is parallel to the trajectory of the ball at the intersection point and a vector perpendicular to this normal vector remains in a constant orientation during the catch. It was found that this catch orientation approach was reliable within a 0.35 x 0.4 meter window in the robot's workspace. For all tests within this window, the robotic arm successfully caught and dropped the ball in a bin. Also, for the tests within this window, the maximum position and orientation (Euler angle) tracking errors were 13.6 mm and 4.3 degrees, respectively. The average position and orientation tracking errors were 3.5 mm and 0.3 degrees, respectively. The work presented in this study can be applied to humanoid robots in industrial assembly lines and hazardous environment recovery tasks, amongst other applications.

A recently emerging engineering design approach entails studying the brilliant design solutions found in nature with an aim to develop design strategies that mimic the remarkable efficiency found in biological systems. This novel engineering approach is referred to as bio-inspired design. In this context, the present study quantifies the structure-property relations in bighorn sheep (Ovis canadensis) horn keratin, qualitatively characterizes the effects of a tapered spiral geometry (the same form as in a ram’s horn) on pressure wave and impulse mitigation, describes the stress attenuation capabilities and features of a ram’s head, and compares the structures and mechanical properties of some energy absorbent natural materials. The results and ideas presented herein can be used in the development of lightweight, energy absorbent, bio-inspired material designs. Among the most notable conclusions garnered from this research include: Horn keratin behaves in an anisotropic manner similar to a long fiber composite. Moisture content dominates the material behavior of horn keratin more than anisotropy, age, and stress-state. This makes moisture content the most influential parameter on the mechanical behavior of horn keratin. Tapered geometries mitigate the impulse generated by a stress wave due to the convergent boundary and a continually decreasing cross sectional area such that greater uniaxial stresses and subsequent axial deformation arises. Furthermore, the tapered geometry introduces small shear stresses that further decrease the impulse. Spiral geometries attenuate the impulse generated by a stress wave by the introduction of shear stresses along the length of the spiral. These shear stresses introduce transverse displacements that function to lessen the impulse. When both a taper and spiral geometry are used in a design, their synergistic effects multiplicatively reduce the impulse Tough natural materials have a high porosity, which makes them light-weight, while increasing their compressive energy absorption ability. Biomaterials whose functions include protection and energy absorption feature a multiscale, hierarchical, composite structure. The constituent materials are arranged in such ways to achieve a synergistic effect, where the properties of the composite exceed the properties of its constituents. Biological materials are therefore not confined to the law of mixtures.