20-07-2012, 02:44 PM
Humanoid robots
[attachment=28200]
INTRODUCTION
Humanoid robots continue to be an active topic for research, including diverse research subjects such as machine vision, artificial intelligence, manipulation, and balancing of robot body postures. These are fundamental capabilities in realizing a humanoid robot system that can provide services for elderly people or patients. A humanoid robot platform has been developed that is used to implement results of research activities on task execution related to home services. So far, many different types of unitary action have been implemented, such as balanced walking, visual servoing, stair climbing, and object recognition.
Bipedal locomotion is one of the most distinctive features of the developed humanoid robot, which enables the robot to share the same workspace with humans without extra modification of the environment. It is usually difficult for a humanoid robot to walk in a stable manner while achieving proper motion without falling down because a robot has many degrees of freedom, and hence, control of its motion is a complex task. In implementing proper walking motion, this paper employs a walking pattern generation method which is based on the linear inverted pendulum model (LIPM) .
WALKING PATH PLANNING
A global path planner for humanoid locomotion is described in this chapter. There are various approaches for humanoid path planning. As already explained in chapter 1, the path-planning problem of a humanoid is different from that of a conventional mobile robot because of the additional constraints and flexibility originating from bipedal motion. In this chapter, for the sake of including constraints on humanoid walking such as foot collision avoidance and the ability of lateral stepping, a line-based path is designed, which yields a path composed of straight lines and curves, as shown by the dotted line in Fig. 3.1. In this kind of path, the robot tracks the line and stops at a turning spot, where the turning radius is included in the path design to avoid collision between feet. As a basic tool for path planning, the VG which yields the shortest polygonal path is used.
WALKING FOOTSTEP PLANNER FOR PATH TRACKING
The footstep-planning layer determines the desired position and angle of the feet to make the humanoid robot track the desired path. Since a footstep is a discrete measure, the walking center of the humanoid evolves according to the following discrete equations:
WALKING PATTERN GENERATION PROCEDURE
The output from the footstep planner layer is inspected with the aid of two procedures before a walking pattern is generated. These two procedures should be considered because of the kinematic constraints of the robot itself. An elliptical boundary adjustment and a collision detection method are used as the two procedures. The walking pattern for a humanoid robot can be generated with the walking pattern generation method advanced pole-zero cancelation by series approximation (APZCSA) using the inspected walking path . Fig. 5.1 shows the overall block diagram for the walking pattern.
APPLICATIONS
1. The dependable navigation software architecture features a localization sensor module with reasonable accuracy and a reliable humanoid hardware platform that executes several stable unitary walking motions, such as walking forward and backward, left and right, and turning.
2. In the future, home services such as house cleaning, garbage collection, meal preparation, and delivery are expected to be provided by the developed humanoid robot.
Home Maintenance: With the proper equipment, humanoid robots will be able to do home maintenance tasks that are often hazardous for humans, such as shingling and painting shutters and eaves. These home maintenance workers will enable humans to live in their own homes for many more years before they will need to move to long-term care supervised closely by other people.
[attachment=28200]
INTRODUCTION
Humanoid robots continue to be an active topic for research, including diverse research subjects such as machine vision, artificial intelligence, manipulation, and balancing of robot body postures. These are fundamental capabilities in realizing a humanoid robot system that can provide services for elderly people or patients. A humanoid robot platform has been developed that is used to implement results of research activities on task execution related to home services. So far, many different types of unitary action have been implemented, such as balanced walking, visual servoing, stair climbing, and object recognition.
Bipedal locomotion is one of the most distinctive features of the developed humanoid robot, which enables the robot to share the same workspace with humans without extra modification of the environment. It is usually difficult for a humanoid robot to walk in a stable manner while achieving proper motion without falling down because a robot has many degrees of freedom, and hence, control of its motion is a complex task. In implementing proper walking motion, this paper employs a walking pattern generation method which is based on the linear inverted pendulum model (LIPM) .
WALKING PATH PLANNING
A global path planner for humanoid locomotion is described in this chapter. There are various approaches for humanoid path planning. As already explained in chapter 1, the path-planning problem of a humanoid is different from that of a conventional mobile robot because of the additional constraints and flexibility originating from bipedal motion. In this chapter, for the sake of including constraints on humanoid walking such as foot collision avoidance and the ability of lateral stepping, a line-based path is designed, which yields a path composed of straight lines and curves, as shown by the dotted line in Fig. 3.1. In this kind of path, the robot tracks the line and stops at a turning spot, where the turning radius is included in the path design to avoid collision between feet. As a basic tool for path planning, the VG which yields the shortest polygonal path is used.
WALKING FOOTSTEP PLANNER FOR PATH TRACKING
The footstep-planning layer determines the desired position and angle of the feet to make the humanoid robot track the desired path. Since a footstep is a discrete measure, the walking center of the humanoid evolves according to the following discrete equations:
WALKING PATTERN GENERATION PROCEDURE
The output from the footstep planner layer is inspected with the aid of two procedures before a walking pattern is generated. These two procedures should be considered because of the kinematic constraints of the robot itself. An elliptical boundary adjustment and a collision detection method are used as the two procedures. The walking pattern for a humanoid robot can be generated with the walking pattern generation method advanced pole-zero cancelation by series approximation (APZCSA) using the inspected walking path . Fig. 5.1 shows the overall block diagram for the walking pattern.
APPLICATIONS
1. The dependable navigation software architecture features a localization sensor module with reasonable accuracy and a reliable humanoid hardware platform that executes several stable unitary walking motions, such as walking forward and backward, left and right, and turning.
2. In the future, home services such as house cleaning, garbage collection, meal preparation, and delivery are expected to be provided by the developed humanoid robot.
Home Maintenance: With the proper equipment, humanoid robots will be able to do home maintenance tasks that are often hazardous for humans, such as shingling and painting shutters and eaves. These home maintenance workers will enable humans to live in their own homes for many more years before they will need to move to long-term care supervised closely by other people.