Humanoid robotics

This is a presentation on Humanoid robotics .

1. Presented by:
SM

2. Contents
■Introduction
■History
■Composition
■Simulation Environment and Configuration
■Types of Humanoid Robots
■Formation of Control System
■PID Control
■Fuzzy Control
■Advantages & Disadvantages
■Applications
■Conclusion

3. Introduction
Roboticsdealswithrobots
Recentenhancementinrobotics-Humanoidrobots
Humanoidrobots-havinghumancharacteristicsor
form
Resemblehumanbothinappearanceandbehavior
“Elektro”isthefirstHumanoidRobot

4. History
Integration of scientific and engineering fields, has a social
dimension
WASEDA University-leading research sites
First usable robot by HONDA in 1996
HONDA Humanoid robots-brief history
First high profile humanoid robot-Honda’s ASIMO-2000

5. Human Evolution vs. Humanoid Evolution

6. Why Develop Humanoids?
More rational reasons
•Can work in human environment
•Environment and tools are adapted for us
•Easier for interaction
•Eases the work of humans
•Because it is a dream of generations

7. Composition
Maincomponents
Actuators–motionmotors
Sensors–measuresomeattribute(sensing)
-proprioceptive
-exteroceptive
Others
Manipulators
Powersource

8. Simulation Tools
■3D CAD model of the humanoid robot created using Solid Works 2003
■Robotics Software Development Environment, Robotics Lab TM v.1.5
■Addition of characteristics (weights)
■Connection of each part
■Surface Contact conditioner to walk

9. Configuration
■Degrees of Freedom
6 for each leg
4 for each arm
1 for each hand
2 for waist
1 for neck
Total 25 degrees of freedom

10. Types of Humanoid Robots
QRIO
--pronounced”curio”-”questforcuriosity”
HRP
ASIMO-AdvancedStepinInnovativeMobility
AIBO-ArtificialIntelligenceRobot
PARO
PaPeRo

11. Few humanoid robots

12. Formationof Control System
Simulation System Configuration
-Robotics lab
-9.8N gravitational force
-flat dry concrete floor
PID controller
Fuzzy control

13. PID Control
Proportional-integral-derivative(PID)control
Iscontrolloopfeedbackmechanism
Controllerminimizestheerror
three-termcontrol:PID
PIDequation
Kp–ProportionalGain
Ki–IntegralGain
Kd-DerivativeGain

14. Block Diagram

15. Fuzzy Control
Definition-Fuzzylogic
Consistsinputstage,processingstage,outputstage
Inputstagemapssensororotherinputs
Processingstagegenerates&combinestheresults
Outputstage–conversionofresults

16. Block diagram

17. Formation of control system
(contd…)
Chestoftherobotwasbasis
ErrorandspeedofobjectmaintainedbyPID
ReasonforusingPID
Betterefficiencythanothercontroller
Fuzzycontroller-robot’spositionparalleltoobject
WhyfuzzycontrolalongwithPID?

19. Advantages and disadvantages
ADVANTAGES
Safeloadcarrying
Goodefficiency
Highaccuracy
Lesstimeconsuming
DISADVANTAGES
Highcost
Requiresspecializedpeopleformaintenance

20. Humanoid Robot Applications

21. Conclusion
Safely move the objects co-operatively
Corrects position and speed of two robots
Smooth co-ordination
Carry objects safely on various surfaces
Scope for improvement
DesignuserfriendlyhumanoidsforLayman
Costeffectiveness