scholarly journals Epi: An open humanoid platform for developmental robotics

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142091149
Author(s):  
Birger Johansson ◽  
Trond A Tjøstheim ◽  
Christian Balkenius
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Force Distribution ◽  
Developmental Robotics ◽  
Motor Processing ◽  
Flexible Parts ◽  
Neurophysiological Data ◽  
3D Printed ◽  
Robot Head

Epi is a humanoid robot developed by Lund University Cognitive Science Robotics Group. It was designed to be used in experiments in developmental robotics and has proportions to give a childlike impression while still being decidedly robotic. The robot head has two degrees of freedom in the neck and each eye can independently move laterally. There is a camera in each eye to make stereovision possible. The arms are designed to resemble those of a human. Each arm has five degrees of freedom, three in the shoulder, one in the elbow and one in the wrist. The hands have four movable fingers and a stationary thumb. A force distribution mechanism inside the hand connect a single servo to the movable fingers and makes sure the hand closes around an object regardless of its shape. The rigid parts of the hands are 3D printed in PLA and HIPS while the flexible parts, including the joints and the tendons, are made from polyurethane rubber. The control system for Epi is based on neurophysiological data and is implemented using the Ikaros system. Most of the sensory and motor processing is done at 40 Hz to allow smooth movements. The irises of the eyes can change colour and the pupils can dilate and contract. There is also a grid of LEDs that resembles a mouth that can be animated by changing colour and intensity.

Design aspects and development of humanoid robot THBIP-2

Robotica ◽  
2008 ◽  
Vol 26 (1) ◽  
pp. 109-116 ◽  
Author(s):  
Zeyang Xia ◽  
Li Liu ◽  
Jing Xiong ◽  
Qiang Yi ◽  
Ken Chen
Keyword(s):  
Control System ◽  
Conceptual Design ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Tsinghua University ◽  
Sensing System ◽  
Actuation System ◽  
System Realization ◽  
Zero Moment ◽  
And Control

SUMMARYThis is the first publication presenting the minihumanoid robot THBIP-2, the second-generation biped of Tsinghua University. It is 70 cm in height and 18 kg in weight with 24 degrees of freedom. This paper mainly addresses its mechatronics system realization, including the conceptual design, actuation system, sensing system, and control system. In addition, a walking stability controller based on zero moment point criterion and the walking simulation are presented. Finally, experiments validate and confirm the efficiency of the design.

Control System Design of a Humanoid Robot Head

2012 ◽  
Vol 468-471 ◽  
pp. 229-232
Author(s):  
Hao Guan ◽  
Xu Dong Yan ◽  
Jian Lan
Keyword(s):  
Control System ◽  
Humanoid Robot ◽  
Robot Manipulator ◽  
Low Cost ◽  
Serial Communication ◽  
Single Chip ◽  
Real Time Control ◽  
Time Control ◽  
Model Aircraft ◽  
Robot Head

The steering engine is a import execute component in controlling of humanoid robot、manipulator and model aircraft . In this paper, with the single chip processor STC89C52 as the core, and adopting the timer interrupt through serial communication way of real-time control system to produce PWM waves. This method has low cost and simple hardware design, can achieve more independent PWM waveforms output.

A Robust Walking Control System of Humanoid Robot

ROBOT ◽  
2010 ◽  
Vol 32 (4) ◽  
pp. 484-490
Author(s):  
Lun XIE ◽  
Zhiliang WANG ◽  
Chong WANG ◽  
Jiaming XU
Keyword(s):  
Control System ◽  
Humanoid Robot ◽  
Walking Control

Mechatronic Design of ARC Humanoid Robot Open Platform: First Fully 3D Printed Kid-Sized Robot

2020 ◽  
Vol 17 (03) ◽  
pp. 2050010
Author(s):  
Saeed Saeedvand ◽  
Hadi S. Aghdasi ◽  
Jacky Baltes
Keyword(s):  
Humanoid Robot ◽  
Size Range ◽  
Robot Design ◽  
3D Printer ◽  
Wide Angle ◽  
Open Platform ◽  
3D Printed ◽  
Wide Angle Camera ◽  
Computational Resources ◽  
User Friendly

Although there are several popular and capable humanoid robot designs available in the kid-size range, they lack some important characteristics: affordability, being user-friendly, using a wide-angle camera, sufficient computational resources for advanced AI algorithms, and mechanical robustness and stability are the most important ones. Recent advances in 3D printer technology enables researchers to move from model to physical implementation relatively easy. Therefore, we introduce a novel fully 3D printed open platform humanoid robot design named ARC. In this paper, we discuss the mechanical structure and software architecture. We show the capabilities of the ARC design in a series of experimental evaluations.

scholarly journals Obstacle Avoidance in Groping Locomotion of a Humanoid Robot

10.5772/5783 ◽  
2005 ◽  
Vol 2 (3) ◽  
pp. 26 ◽  
Author(s):  
Hanafiah Yussof ◽  
Mitsuhiro Yamano ◽  
Yasuo Nasu ◽  
Kazuhisa Mitobe ◽  
Masahiro Ohka
Keyword(s):  
Control System ◽  
Obstacle Avoidance ◽  
Force Control ◽  
Humanoid Robot ◽  
Flat Surface ◽  
Rotation Angle ◽  
Basic Research ◽  
Orientation Data ◽  
Robotic Arms ◽  
End Effectors

This paper describes the development of an autonomous obstacle-avoidance method that operates in conjunction with groping locomotion on the humanoid robot Bonten-Maru II. Present studies on groping locomotion consist of basic research in which humanoid robot recognizes its surroundings by touching and groping with its arm on the flat surface of a wall. The robot responds to the surroundings by performing corrections to its orientation and locomotion direction. During groping locomotion, however, the existence of obstacles within the correction area creates the possibility of collisions. The objective of this paper is to develop an autonomous method to avoid obstacles in the correction area by applying suitable algorithms to the humanoid robot's control system. In order to recognize its surroundings, six-axis force sensors were attached to both robotic arms as end effectors for force control. The proposed algorithm refers to the rotation angle of the humanoid robot's leg joints due to trajectory generation. The algorithm relates to the groping locomotion via the measured groping angle and motions of arms. Using Bonten-Maru II, groping experiments were conducted on a wall's surface to obtain wall orientation data. By employing these data, the humanoid robot performed the proposed method autonomously to avoid an obstacle present in the correction area. Results indicate that the humanoid robot can recognize the existence of an obstacle and avoid it by generating suitable trajectories in its legs.

Globalized Dual Heuristic Dynamic Programming in Control of Robotic Manipulator

2016 ◽  
Vol 817 ◽  
pp. 150-161 ◽  
Author(s):  
Marcin Szuster ◽  
Piotr Gierlak
Keyword(s):  
Neural Networks ◽  
Dynamic Programming ◽  
Control System ◽  
Degrees Of Freedom ◽  
Dynamic Programming Algorithm ◽  
Robotic Manipulator ◽  
Iteration Step ◽  
Programming Algorithm ◽  
Heuristic Dynamic Programming ◽  
The Stability

The article focuses on the implementation of the globalized dual-heuristic dynamic programming algorithm in the discrete tracking control system of the three degrees of freedom robotic manipulator. The globalized dual-heuristic dynamic programming algorithm is included in the approximate dynamic programming algorithms family, that bases on the Bellman’s dynamic programming idea. These algorithms generally consist of the actor and the critic structures realized in a form of artificial neural networks. Moreover, the control system includes the PD controller, the supervisory term and an additional control signal. The structure of the supervisory term derives from the stability analysis, which was realized using the Lyapunov stability theorem. The control system works on-line and the neural networks’ weight adaptation process is realized in every iteration step. A series of computer simulations was realized in Matlab/Simulink software to confirm performance of the control system.

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