Building A Humanoid Robot and Its 3D Simulation

Posted June 22nd, 2010 at 3:47 pm.

Abstract: Ying Pan
Mentor: Dr. Blank
A humanoid robot is a robot with its overall appearance, based on that of the human body, allowing interaction with made-for-human tools or environments. In this research, Melanie and I mainly worked on a humanoid robot that is completely built by our own lab. Based on the 30cm tall robot that was built last summer, we programmed the robot with Tekkotsu to make it walk. We analyzed real human gait and then controlled the move angles of different actuators to achieve natural ambulation. At the same time, we developed a 3D robot simulation with Mirage, Google SketchUp and DHWizard. By using this simulation, the feasibility of motion commands can be tested out first on the virtual robot and then be executed by the real one. This can effectively reduce the risk of mechanical malfunction due to inappropriate motion range. Our robot can serve as a model for future robot development. Through adjusting the joint positions or changing motors, we can increase the flexibility and weight bearing ability of the robot so that it can serve different purposes. On the other hand, the simulation can also be adjusted to control different types of humanoid robot simply by changing the basic parameters and joints.

Filed under: 2010,Blank, Dr. Douglas,Pan, Ying Tags: by Lisa Klinman

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