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Introduction To Humanoid Robot Kid Size

This presentation discusses types of robots and components of robots. It focuses on humanoid robots and covers topics such as mechanical systems, actuators like Dynamixel motors, power supply systems, sensory devices including vision sensors, and control systems. Examples of humanoid robots from Amirkabir University including AUTman and DD robots are presented. Inverse kinematics, stability control, and attention control concepts in humanoid robots are also summarized.

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Davi Assunção
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30 views50 pages

Introduction To Humanoid Robot Kid Size

This presentation discusses types of robots and components of robots. It focuses on humanoid robots and covers topics such as mechanical systems, actuators like Dynamixel motors, power supply systems, sensory devices including vision sensors, and control systems. Examples of humanoid robots from Amirkabir University including AUTman and DD robots are presented. Inverse kinematics, stability control, and attention control concepts in humanoid robots are also summarized.

Uploaded by

Davi Assunção
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Presented by:

Mojtaba Karimi

Advisor :
Dr . Saeed Shiri

Department Of Robotics Engineering


Amirkabir University Of Technology (Tehran Polytechnic)
Types of Robots
Industrial Robots

 materials handling
 welding
 inspection
 improving productivity
 Laboratory applications
Types of Robots
Mobile Robots
 Robots that move around on legs, tracks or wheels.
Components Of Robots
 Mechanical system
 Power supply system
 Actuators
 Servos (Dynamixel)
 Sensory devices for feedback
 IMU
 Load sensors
 Sensor Data processing unit
 Motion Control
 Machine Vision
 Self Localization
 Behavior Control
 Control system
 Real-time stability control
 Kick action
 Mutation in COM
 ZMP
Mechanical System
 The most basic and important part of the robot.

 It comprises of chassis, motors, wheels and their


placement.

 This system decides the locomotion of the robot.


21DOF Humanoid Robot
AUTman Humanoid 2010
AUTman Humanoid 2011
Kinematic Of Humanoid (DD)
Kinematic Of Legs
Actuators
 They convert the electrical energy into meaningful
mechanical work

 Mechanical output can be rotational or linear (straight


line)

 Motors provide rotational motion

 Electromagnets provide linear motion


Motors are of various kinds

 AC Motors : Not used much in robotics

 Stepper Motors : For controlled rotation

 DC Motors : Finds extensive general use

 Servo Motors : DC motor with in built feedback & error


compensation

 Micro & Nano Motors


Stepper Motors
 Used for measured
rotation.

 Can be held at a
particular position of
the shaft.

 Ideal for many


autonomous robots
requiring higher
precision.
Problems with Stepper Motors

 Very low torque to weight ratio

 Torque decreases with increase in the stepping frequency

 For sufficiently high stepping speed the stepper motor may


skip steps due to overshoot
DC Motors
 As the name suggests, a motor which
uses a DC (Direct Current) power

 Can run in both directions

 Speed Controllable

 DC Motors are high–speed, low-


torque devices.

 Using gears, the high speed of the


motor is traded off into torque
Dynamixel Motors
Dynamixel Specification
Dynamixel control system
Goal Position In Dynamixel
How To Use!
Power Supply System
 Suitable power source is needed to run the robots.

 Robots are most suitably powered by batteries.

 The weight and energy capacity of the batteries may


become the determinative factor of its performance.
In System Charging
 Offline Charging VS Work During Charge!
In System Battery Charging

In System Charge

System

POWER
Sensors
 Analogous to human sensory organs
 Eyes, ears, nose, tongue, skin

 Sensors help the robot knowing its surroundings better

 Improves its actions and decision making ability

 Provides feedback control


Examples
 Distance Sensor (IR , Ultrasonic , Laser Scanner )
 Temperature , Wet , Gas
 IR Photo Sensor , Vision (Image Processing)
 IMU (Inertial Measurement Unit)
 HAL sensors
 Load sell
…
Optical Reflectors
Vision Sensor
Specifications
Carl Zeiss optics with autofocus

Native 2MP HD sensor

HD video capture (up to 1600 X 1200)

720p widescreen mode with


recommended system

Up to 8 megapixel photos (enhanced


from native 2MP sensor)

Microphone with Logitech RightSound


technology

Up to 30 frames per second video

Hi Speed USB 2.0 certified

fun filters, avatars, video masks, and


Logitech webcam software (including
face accessories)
Logitech Video Effects
video calling software
Logitech Vid
Desktop stand and carrying case
Image Processing
 Face Detection
 Face Recognition
 Object Detection
 Shape Detection
…
Vision In Humanoid Robot
 Ball detection
 Goal detection
 Line detection
 Obstacle detection
Local Vision Vs. Global Vision!
Head Camera View
Control of robot
Processor Unit
 Receive data from sensors
 Calculate system status
 Generate control signal
 Control actuator and motors
 Control sensors update frequency (Attention Control)
 Use STM for sensor analyze
Open Loop Control System

O/P
Desired Action Controller Actuator

 There is no error correction. No way to check if the


actuator was able to take the desired action
 Simple system to design, not very reliable
 Requires regular calibration of the system
Closed Loop Control System

O/P
Desired Action Controller Actuator

Feedback
PID Controller
PID…
Walking in Humanoid Robot
 Walk
 Omni-directional
 Run
…
Inverse Kinematic
Inverse Kinematic:
Inverse Kinematic:
Inverse Kinematic:
Stability Control
 ZMP
 Mutation in COM
 COG
 Hopping
Sensors fusion for Stability:
Gyro Sensor

Accelerometer

Joint Force

Sensory Data
AUTman VS. DD
System Result
Attention Control in Robotics
Example of Localization in Humanoid Robot
DD team 2011
Example of Real-time Self Localization (DD)
AUTman Humanoid Team

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