fyp final presentation ct 26 soccer playing humanoid robot (rope iv)
TRANSCRIPT
FYP FINALPRESENTATION
CT 26Soccer Playing Humanoid
Robot(ROPE IV)
CONTENT Introduction Objectives Work and Results
Mechanical Structure of ROPE IV Robot Control Problems and Solutions Results
Recommendations Conclusions
INTRODUCTION
Humanoid Robot
Motivation behind humanoid research: A machine that interacts naturally
with human spaces. People relate better to robots that
look similar to us. There is a basic desire to reproduce
ourselves.
Soccer
Why soccer for evaluating humanoid? Intensive in leg movements. Test for both speed and agility. Popular sport that can attract huge
number of participants.
RoboCup
One of the world major competition for robot.
Its vision.
RoboCup 2005 will be held July in Osaka, Japan.
RoboCup
Events Penalty Kick 2-2 Games Technical Challenge
Walk over rough terrain Walk around poles Shoot the ball against a pole
OBJECTIVES
OBJECTIVES
To build a humanoid robot (ROPE IV) with soccer playing ability.
Able to recover from fallen positions.
Participate in RoboCup 2005.
WORK AND RESULTS
Mechanical Structure ofROPE IV
ROPE IV is designed with 22 DOFs.
Actuated by servos: 17 DS8511, 3 HSR5995TG and 2 HS-5125MG servos.
Controlled by microcontroller ATmega128.
Locations and Orientations of DOFs on ROPE IV
Ankle Design
ROPE II ROPE IV
Hip Design I
ROPE II ROPE IV
Hip Design II
ROPE II ROPE IV
Body Design
Yaw
Pitch
Arm Design
ROPE IIROPE IV
Robot Control Microcontroller Atmega128 as
ROPE IV’s processor.
Two Basic Stamp2 for PWM signal generation.
Integrated onto a PCB designed for ROPE IV.
ROPE IV Controller Board
Walking
Basically joint space control.
The walking cycle was broken down into 6 phases.
LEFT SWING LEFT LANDING DOUBLE
RIGHT SWING RIGHT LANDING DOUBLE
LEFT SWING
Walking These 6 critical postures could be
adjusted by changing the parameters in the Cartesian space.
Parameters converted to joint space using inverse kinematics.
Currently, calculations for the interpolations of joint angles are done by Basic Stamp2.
Recovery from fallen position Made use of the arms and the
body pitch.
Involves co-ordinations between upper and lower body.
Problem in calculations done on Basic Stamp2.
(a) (b)
(c)
(d) (e) (f)
(g) (h)
Problems and Solutions
FORCE
Body Pitch Body Yaw
Shoulder Joint
Problems and Solutions
Yaw Shaft
Problems and Solutions
Problems and Solutions
Before Modification After Modification
Results
Walking
Recover for fallen position
Kicking
RECOMMENDATIONS
Further Robot Control
Algorithms for: Walking at higher speed Recovery from fallen facing up /
Flipping over from facing up to facing down
Other motions
Implementation of ATmega128.
Sensors Incorporation
CMUCam2
Infra-red sensors
Force sensors
Digital compass
Conclusions
A humanoid robot ROPE IV was built.
ROPE IV is capable of recovering from fallen position.
ROPE IV will be participating in RoboCup 2005.
THE END