A Humanoid Robot: Development, Modeling and Control of
Authors
Christensen, Jens ; Falkesgaard Ørts, Peter ; Nielsen, Jesper Lundgaard ; Svendsen, Mads Sølver
Term
10. term
Publication year
2007
Pages
277
Abstract
Specialet undersøger, hvordan en menneskelignende robot kan få en gang, der ligner menneskets, gennem design, modellering og styring. Robotten er udformet med menneskelige proportioner og har et særligt hofteled, der minder om hofteskålen og gør det muligt at dreje under gang. Der er desuden udviklet hardware, så robotten kan køre selvstændigt. Resultatet er robotten "Roberto", som er 58 cm høj med 21 aktiverede frihedsgrader (dvs. 21 led, der kan styres). Der er udviklet en fuld dynamisk model, der beskriver systemets input og output. Modellen er hybrid, hvilket vil sige, at den kombinerer kontinuerlige bevægelser med diskrete hændelser som fodisæt og afsæt, så hele gangcykler kan simuleres. Specialet foreslår også en ny beskrivelse af robotten, når begge fødder er i kontakt med jorden (dobbeltstøttefasen). Et sæt menneskelignende gangtrajektorier er udarbejdet på baggrund af zero-moment point (ZMP) og dynamiske simuleringer. ZMP er et balancepunkt, der bruges i robotik til at undgå, at robotten vælter. Trajektorierne blev afprøvet i simulation, hvor modellen opnåede menneskelignende gang. For at holde balancen under gang er der designet to regulatorer: én til kropsholdning og én til ZMP-positionen. I tests kunne regulatorerne følge en reference for både ZMP og en ønsket orientering. Menneskelignende gang blev ikke opnået på den fysiske robot på grund af systembegrænsninger. Det vurderes, at et nyt interface-print til DC-motoren i servoerne samt en hurtigere computer ombord vil forbedre resultaterne. Med disse opgraderinger bør robotten kunne opnå menneskelignende gang.
This thesis explores how to make a humanoid robot walk in a human-like way through design, modeling, and control. The robot is built with human proportions and includes a special hip-like joint that allows turning while walking. Additional hardware was developed so the robot can operate autonomously. The result is the robot "Roberto," 58 cm tall with 21 actuated degrees of freedom (i.e., 21 joints that can be controlled). A complete dynamic model was created to describe the system’s inputs and outputs. The model is hybrid, meaning it combines continuous motion with discrete events such as foot contact and lift-off, enabling full gait cycle simulations. The thesis also proposes a new description of the robot’s dynamics when both feet are on the ground (the double-support phase). A set of human-like walking trajectories was developed based on the zero-moment point (ZMP) and dynamic simulations. ZMP is a balance point used in robotics to prevent tipping. These trajectories were tested in simulation, where the model achieved human-like walking. To maintain stability during walking, two controllers were designed: one for posture and one for the ZMP position. In tests, the controllers could track references for both ZMP and a desired orientation. Human-like walking was not achieved on the physical robot due to system limitations. It is assessed that a new interface board for the DC motor inside the servos, as well as a faster onboard computer, would improve performance. With these upgrades, human-like walking should be achievable on the robot.
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