A Humanoid Robot: Development, Modeling and Control of

Studenteropgave: Kandidatspeciale og HD afgangsprojekt

  • Jens Christensen
  • Peter Falkesgaard Ørts
  • Jesper Lundgaard Nielsen
  • Mads Sølver Svendsen
This master’s thesis concerns the development, modeling and control of a humanoid robot, which enables human-like walk. As the focus is to obtain human-like walk, the robot is designed to resemble human proportions and a special joint has been developed to resemble the hip joint of humans, and thereby enabling walking in curved paths. Furthermore the hardware necessary to obtain a fully autonomous system is developed and implemented. The result of the design phase is a humanoid robot, called ”Roberto”, measuring 58 cmand with 21 actuated degrees of freedom. A complete dynamical model describing the system has been developed. The model is a hybrid model which enables simulation of complete walking cycles. A novel solution of the dynamics of the robot during double support phase has been given. To enable human-like walk a set of trajectories has been developed, based on the zero-moment point and dynamical simulations. The trajectories are simulated, and human-like walk is obtain on the model. To maintain stability during walk with the real robot, two controllers have been developed, a posture controller and a zero-moment point controller. It was found that the controllers were able to track a zeromoment point reference and a inclination reference given to the system. Human-like walk was not obtained on the real system, due to system limitations. If a new interface to the DC-motors in the servos was developed, and a faster on-board computer was chosen, human-like walk should be possible.
Antal sider277
Udgivende institutionAAU
ID: 9841892