P E S Institute of TechnologyDepartment of Electronics and Communication

Engineering

Seminar

On

“Control System of Humanoid Robots for Dynamic Load Carrying”

By,Rohit Bhat1PI08EC092

Guide,Dr. K Koshy George,Professor,Dept. of TE, PESIT

Contents

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

Introduction

Robotics deals with robots Recent enhancement in robotics - Humanoid robots Humanoid robots - having human characteristics or form Resemble human both in appearance and behavior “Elektro” is the first Humanoid Robot

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

Human Evolution vs. Humanoid Evolution

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

Composition Main components

Actuators – motion motors

Sensors – measure some attribute(sensing)-proprioceptive

-exteroceptive Others

Manipulators

Power source

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

Configuration

• Degrees of Freedom 6 for each leg 4 for each arm 1 for each hand 2 for waist 1 for neckTotal 25 degrees of

freedom

Types of Humanoid Robots

QRIO

--pronounced ”curio”-”quest for curiosity” HRP ASIMO- Advanced Step in Innovative Mobility AIBO-Artificial Intelligence Robot PARO PaPeRo

Few humanoid robots

Formation of Control System Simulation System Configuration

-Robotics lab

-9.8N gravitational force

-flat dry concrete floor PID controller Fuzzy control

PID Control

Proportional-integral-derivative (PID) control Is control loop feedback mechanism Controller minimizes the error three-term control: P I D PID equation

Kp – Proportional Gain Ki – Integral Gain Kd- Derivative Gain

Block Diagram

Fuzzy Control

Definition-Fuzzy logic consists input stage, processing stage, output stage input stage maps sensor or other inputs processing stage generates & combines the results output stage – conversion of results

Block diagram

Formation of control system (contd…)

Chest of the robot was basis Error and speed of object maintained by PID Reason for using PID Better efficiency than other controller Fuzzy controller -robot’s position parallel to object Why fuzzy control along with PID?

Advantages and disadvantages

ADVANTAGESSafe load carryingGood efficiencyHigh accuracyLess time consuming

DISADVANTAGESHigh costRequires specialized people for maintenance

Applications

Automobile industry Manufacturing industry Infrastructure projects

Humanoid Robot Applications

Conclusionsafely move the objects co-operativelyCorrects position and speed of two robotsSmooth co-ordination carry objects safely on various surfaces

Scope for improvement Design user friendly humanoids for Layman Cost effectiveness

Q

U

E

R

I

E

s

?