Horizontal Distance Identification Algorithm for Sit to Stand Joint Angle Determination for Various Chair Height Using NAO Robot

  • Mohd Bazli BaharEmail author
  • Muhammad Fahmi Miskon
  • Norazhar Abu Bakar
  • Ahmad Zaki Shukor
  • Fariz Ali
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 291)


This paper presents the development of an autonomous Sit To Stand (STS) motion using NAO robot. NAO robot hip limitation will emulate the limitation faced by people having STS problem. To perform the motion, three main steps have been developed (1) horizontal distance identification, (2) joint angle determination, and (3) stability control. This step was developed based on Alexander STS technique. Results show that NAO robot is able to achieve halfway stand up from chair height between 9.6 and 12.7 cm automatically. The robot’s best performance is at 12.7 cm height with swinging time of 0.52 s in experiment and 0.2914 in simulation. The developed system will contribute to the development of exoskeleton, rehabilitation and evolution of humanoid robot. This system also enhances NAO’s ability for medical study on STS motion or as tools in searching for the best chair design.


Aautonomous STS NAO Alexander technique Hip limitation 


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Copyright information

© Springer Science+Business Media Singapore 2014

Authors and Affiliations

  • Mohd Bazli Bahar
    • 1
    Email author
  • Muhammad Fahmi Miskon
    • 1
  • Norazhar Abu Bakar
    • 1
  • Ahmad Zaki Shukor
    • 1
  • Fariz Ali
    • 1
  1. 1.Faculty of Electrical EngineeringUniversiti Teknikal Malaysia MelakaMelakaMalaysia

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