This thesis analyzes the flexibility of humanoid robot structure design based on degree of freedom design parameters and joint angle range characteristics. To clarify the elements, a description and correlation of the flexibility of the physical structure between a human and a humanoid robot to perform movement is presented. This analysis used the joint structure design, degree-of-freedom configuration, and joint range of rotation of a 17-dof humanoid robot.
Even though several humanoids have successfully demonstrated their abilities, bipedal walking methods are still one of the most important technical challenges that robotics researchers are trying to solve. Building a full-sized humanoid robot is still challenging because most bipedal walking methods, including ZMP (Zero Moment Point) require fast sensor feedback and also fast and precise control of actuators. This is to certify that the work presented in this thesis is the outcome of the investigation and research carried out by the following students under the guidance of Dr.
Mizanur Rahman Mizan, Student ID Raihan Masud Saquib, Student ID Fardan Abdullah, Student ID have completed their undergraduate project and thesis entitled “Design and Fabrication of Humanoid Robots to Achieve Human-Like Movements”. Electronics emerged as the driving force behind development with the advent of the first electronic autonomous robots, created by William Gray Walter in Bristol, England in 1948.
Classification
The possibility of robot autonomy and possible consequences has been discussed in fiction and may be a realistic concern in the future. The word robot can refer to both physical robots and virtual software agents, but the latter are usually referred to as bots. There is no consensus on which machines qualify as robots, but experts and the public generally agree that robots tend to do some or all of the following: move around, operate a mechanical part, sense their environment, and manipulation, and intelligent behavior – especially behavior that mimics humans or other animals.
There is no one definition of robot that satisfies everyone and many people have their own. For example, Joseph Engelberger, a pioneer in industrial robotics, once remarked, "I can't define a robot, but I know one when I see one." According to the Encyclopedia Britannica, a robot is "any automatically operated machine that replaces human effort, although it may not look like humans or perform functions in a human way." Merriam-Webster describes a robot as a "machine that looks like a human and performs various complex actions (such as walking or talking) of a human", or a "device that automatically performs complex often repetitive tasks", or a "mechanism guided by automatic controls".
Function
Most commonly, industrial robots are fixed robotic arms and manipulators used primarily for the production and distribution of goods. Modular robots are a new breed of robots that are designed to increase the utilization of the robots by modularizing the robots. Some experts and academics have questioned the use of robots for military combat, especially when such robots acquire some degree of autonomous functions.
Thus, despite their intelligent behavior in their familiar environments, humanoid robots are actually quite limited. Industrial robots are also widely used for palletizing and packaging manufactured goods, for example to quickly take beverage cartons from the end of a conveyor belt and place them in cases, or to load and unload processing centers. Mining robots are designed to help counter a number of challenges currently facing the mining industry, including skills shortages, improving productivity from declining ore grades and meeting environmental targets.
Humans do the best care, but where they are not available, robots are gradually being introduced. However, real robots are nowhere near as sophisticated and mostly consist of a small number of cube-shaped units that can move relative to their neighbors.
Literature Review ..................................................................................(14-20)
Proposed Humanoid Robot (MISTBoy)
Problems for Humanoid Robot
- Design Issues
- Operation Issues
Reducing design complexity is a challenge for developing a low-cost humanoid robot. As for the sensor equipment, the interface between the humanoid robot and the environment is achieved using a sensing system. The structure of a low-cost humanoid robot must be made of a suitable material with adequate stiffness and also lightness.
A low-cost humanoid robot requires actuators with uncomplicated, light-weight systems and appropriate functions that enable successful performance of basic robot operations. Control algorithms for an easy-to-operate humanoid robot should consist of non-complex routines that enable appropriate functions for the subsystems and provide successful operations for the robot. Locomotion strategies for an easy-to-operate humanoid robot must balance the structure with an uncomplicated algorithm.
Keeping the ZMP in the support zone using an uncomplicated balancing strategy is one of the main problems for the design of a low-cost and easy-to-use humanoid robot. In order to have autonomy for a low-cost humanoid robot, the control system must be incorporated into the structure of the robot while still having a compact design and light weight.
Kinematics .............................................................................................(36-38)
Inverse Kinematics
The kinematic equations for a parallel chain or parallel robot formed by an end effector supported by multiple serial chains are obtained from the kinematic equations for each of the supporting serial chains. Assume that m serial chains support the end effector, then the transformation from the base to the end effector is defined by m equations,. Inverse kinematics refers to the use of a robot's kinematics equations to determine the joint parameters that provide a desired position for the end effector.
Specifying the motion of a robot so that its end effect achieves a desired task is known as motion planning. Forward kinematics uses the coupling parameters to calculate the chain configuration, and reverse kinematics reverses this calculation to determine the coupling parameters that achieve a desired configuration.
ZMP ........................................................................................................(39-41)
- Waist U-Bracket
- L-Bracket
- Long U-Bracket
- Multi-Purpose bracket
- Oblique U-Bracket
- One-Type Bracket
- Short U-Bracket
- Foot Base
- Finished Parts
- Waist U-Bracket
- L-Bracket
- Long U-Bracket
- Foot Base
- Multi-Purpose Bracket
- Oblique U-Bracket
- One-Type Bracket
- Short U-Bracket
- Body Parts Assembly
- Head and Shoulder Assembly
- Hand’s Assembly
- Waist and Trunk Assembly
- Leg’s Assembly
- Final Assembly
These equations show that the biped robot is dynamically balanced if the contact forces and the forces of inertia and gravity are strictly opposite [7]. If an axis ∆𝑔𝑖 is defined, where the moment is parallel to the normal vector from the surface around any point on the axis, then the Zero Moment Point (ZMP) necessarily belongs to this axis, since by definition it is directed along the vector. η.
Design Analysis .......................................................................................(58-90)
Stress and Strain Analysis
Fatigue Analysis
Conclusion and Recommendation ........................................................(91-93)
Manipulation: it contains all systems necessary for the direct interaction with the robot's surrounding environment. Power supply: At present we use DC power supply using adapter which converts AC to DC power supply. But a humanoid robot can make sense if he is a mobile system with an independent power supply.
Our future plan is to use battery as power source which is able to meet the required demand. Our future plan is to modify the humanoid robot to understand voice commands and respond in natural language. A humanoid robot moving in an environment with a real human must have a precise idea of the world around it.
In the future, we plan to use optical cameras to improve the robot's detection. 1] Nestor Eduardo Nava Rodriguez: “Design and simulation of a new low-cost, easy-to-manage humanoid robot”. Hong, President Andrew J, Kurdila Robert L, West Robert H, Sturges Thurmon E, Lockhart: "Bipedal Walking for a Full-sized Humanoid Robot Utilizing Sinusoidal Feet Trajectories and Its Energy Consumption.".
GuRoo is a humanoid robot developed at the Mobile Robotics Laboratory in the School of Information Technology and Electrical Engineering at the University of Queensland. Femur, is the most proximal (closest to the center of the body) bone of the leg in four-legged vertebrates capable of walking or jumping, such as most land mammals, birds, many reptiles such as lizards, and amphibians such as frogs . Tibia or tibia is the larger and stronger of the two bones in the leg below the knee in vertebrates (the other being the fibula), and it connects the knee to the ankle bones.
In physics, the center of mass of a mass distribution in space is the unique point where the weighted relative position of the distributed mass sums to zero. A modulus of elasticity or modulus of elasticity is the mathematical description of the tendency of an object or substance to be deformed elastically (ie non-permanently) when a force is applied to it. Development of an Integrated Vision System to Control a Soccer Playing Humanoid Robot ”(accepted) in Proc 4th Global Engineering, Science and Technology Conference (ISSN Dhaka, Bangladesh, 201.
