A Humano id B ipeda l Robo(swg dreams)

w i th ODMTS us ing 89S52

A H u m a n o i d B i p e d a l R o b o ( s w g d r e a m s ) w i t h O D M T S u s i n g 8 9 S 5 2

15A p r i l

2011

Final Review

JEPPIAAR ENGINEERING COLLEGE Department Of Information Technology

Gautaman N 30607205031 Sri Kumaran T 30607205100William Arockia Raj A 30607205118

Batch No. 24Internal Guide : Ms Uma Maheswari

SWG Vertical View Innovators In-Association with EPR Labs

Our motivation towards Humanoid Research and design made us design a humanoid bipedal robot with the principle of ZMP (Zero Momentum Point) and passive Dynamics in line with the experimental model of Honda’s walking assistant device. As an enhancement we have used many sensors such as Object Detection, Motion, and touch sense. Ultra super dynic radio frequency transmitter and receiver are used for accessing the robot placed at a remote area. Wireless CMOS capturing device serves as a tool for easier access of the robot to the end user, and can also be used for surveillance. The front end is designed using VC++.The most challenging part is, we have used a basic developer board 8051 family’s ATMEL 89S52 to interface all the motor drivers and sensors.

Abstract

M otivation to do this project4 YEARS ENGINEERING LIFE WE LEARNT SCIENCE MECHANISMS MATHS FORMULAS ALGORITHMSOPTICSTECHNOLOGIESHARDWARESSOFTWARESUPCOMES WE EXPERIMENTED SEVERAL IDEAS

SOFTWARE ELECTRONICS

MECHANICS

WEST EAST 4 DIRECTIONS IN THIS WORLD NORTH

SOUTH

WHICH IS MY PATH ???

HERE ONLY 3 BUT SAME CONFUSION !!!

SCIENCE AND ENGINEERING

ELECTRONICS MECHANICS SOFTWARE

@ ONE PLACE

Its none other than ….

ROBOTICS

Our Views,

Design – Engineering Graphics Mechanism – Engineering Physics Circuit -- Electronic Devices And Circuits, Digital Principles And System Designs Processor–MicroprocessorAnd Microcontrollers Programming – Embedded Systems ,C Remote PC access – Visual Programming Wireless Network – Mobile Computing Power – Electrical Engineering

KEEP MOVING

I CAN

DO YOUR WORK. DON’T BE STUPID

WHAT WOULD YOU ATTEMPT TO DO IF YOU KNEW YOU COULD NOT FAIL?INNOVATION DISTINGUISHES A LEADER FROM A FOLLOWER

Mechanics

Electronics

RF

UI

DIP

SWG

Plan the structure.Entire structure is designed in engineering graphics.Implemented using light weight material (alluminium).Manually bipedal motion tested.

Divide ports in controller as per sensors and motors.Motors are connected using L293D.Synchronize Sensors and motor actions.Test for voltage defect and fluctuations.

[

[ Covert into bits (mbps range).For high speed transmission/receptions in ultra superdyonics.Check for data continuity . [

Sketch for requirements.Control buttons to access remote object.Scenario buttons.Image, A/V window,Others.Test for expected results.

[ Choose algorithm.Frames from videos.Crop for human face.Save in database .Compare list with stored/tagged images.Test for accuracy.

[Final Test Report

[

Modules

Capture (A/V) using CMOS Camera

Touch Sensing using Infra Red

Synchronization using Neutral oscillator

Bipedal locomotion (Zero moment ppoint critera)

Object Detection using ultra sonic sensor

Head Rotation (voice recognition)

89S5

2em

bedd

ed C

controls

CapturedA/V

(Wireless)RF

Remote PC

VC++

Our Views,Design – Engineering GraphicsMechanism – Engineering PhysicsCircuit -- Electronic Devices And Circuits, Digital Principles And System DesignsProcessor – Microprocessor And MicrocontrollersProgramming – Embedded Systems ,CRemote PC access – Visual ProgrammingWireless Network – Mobile ComputingPower – Electrical Engineering

A H u m a n o i d B i p e d a l R o b o ( s w g d r e a m s )

w i t h O D M T S u s i n g 8 9 S 5 2

Implementation

Results

Every robotic structure needs a good design, we have successfully completed our design with higher degree of flexibility and compatibility. The most challenging part is we have used a basic developer board 8051 family’s ATMEL 89S52 for interfacing many motor drivers and sensors. Our project also serves as symbol for green environment. We have also kept our project as a starting step towards our development in the stream of humanoid research and design.

A project is not just meant with…

documentations and output screens,..

rather it should be a real time simulation..

of all imaginations

ReferencesA Unified Control Frame for Stable Bipedal Walking

Barkan Ugurlu, Takahiro Hirabayashi and Atsuo KawamuraDepartment of Electrical and Computer Engineering

Yokohama National UniversityThe combination of orientation control, ZMP control and upper bodymotion regulation to be able to cope with distinct restrictionfactors and maintain dynamic balance in a feasible way.Decrease in undesired yaw moment, orientation error and ZMPerror.

Development of a Bipedal Humanoid Robot-Control Method of Whole Body Cooperative Dynamic Biped

Walking – Jin7ichiY amaguchi, E@ Soga, Sadatoshi Inoue and Atsuo Takanishi

Humanoid Research Laboratory, Advanced Research Institute for Science and Engineering, Waseda University Graduate School of Science and Engineering, Waseda University

Department of Mechanical Engineering, School of Science and Engineering Waseda Universitycontrol method of whole body cooperative dynamic biped walking that uses trunk or trunk-waist cooperative motion to compensate for three-axis (pitch, rolland yaw-axis) moment generated not only by the motion of the lower-limbs planned arbitrarily but by the time trajectoryof the hands planned arbitrarily.

The Multiple-Function Intelligent Robotic ArmsRong-Jyue Wang1, Jun-Wei Zhang2, Jia-Ming Xu1, and Hsin-Yu Liu3

The multi-link system is always applied to analyze the posture and the locomotion movement of the multi-link robot. It is also a bridge to transform a joint angle into a motor position. The multi-link system is constructed by two rotation matrices with two directions x-direction and y-direction.

Master-Slave Control of a Teleoperated Anthropomorphic Robotic Arm

with Gripping Force SensingG. Sen Gupta S.C. Mukhopadhyay C. H. Messom and S. Demidenko

IIS&T, Massey University, Palmerston North, New Zealand2School of EEE, Singapore Polytechnic, 500 Dover Road, Singapore

3II&MS, Massey University, Palmerston North, New Zealand4School of Engineering, Monash University, Kuala Lumpur, Malaysia

Teleoperation, Force feedback, Robotic arm, ForceSensing, Master-Slave control

˙Insan Hareketlerinin PIR-Sens¨or Tabanlı bir Sistemle Sınıflandırılması PIR-Sensor based Human Motion

Event ClassificationO. Urfalıo˜glu, Emin B. Soyer, B. U˜gur T¨oreyin ve A. Enis C¸ etin

The classification is done by a bayesian approach using Conditional GaussianMixture Models (CGMM) trained for each class.

Design of Human Motion Detection and Tracking RobotBased on Pyroelectric Infrared Sensor

Xiaohu Lv and Yongxin LiuCollege of Electronic Information Engineering

Inner Mongolia UniversityHexapod Robot, Dual Element PIR, Human Motion Detection, tracking, PWM

Honda’s walking assistance device

Honda unveils leg assist machine for elderly Nov 7, 2008 (Honda website – Official press release)

TOKYO (AFP) — Honda Motor, a pioneer of humanoid robots, on Friday unveiled a new walking assist machine designed to make it easier for the elderly to climb stairs and help factory workers. The computerised leg device is the latest addition to walking technology developed by the Japanese automaker, which announced the world's first two-legged walking robot, ASIMO, in 2000.

The 6.5 kilogramme (14.3-pound) device -- consisting of a saddle, leg-like frames and shoes -- can reduce the load on users' legs while walking or climbing and descending stairs by supporting bodyweight, Honda said. Honda said the motor-powered machine is still at an experimental stage, but elderly people and people undergoing rehabilitation who need support for their leg muscles and joints are the main target. The device is also expected to help assembly workers to keep a crouching position, Honda said, adding that it plans to test the device at one of its factories north of Tokyo. Like with a unicycle, users ride on the seat sustained by frames that can bend and extend like knees with two motors controlled by signals from sensors inside the shoes. "We used ASIMO's technology for developing the walking assist device," Masato Hirose, a senior engineer at Honda Research and Development, told AFP. "ASIMO is designed to be used as a tool, but the walking assist device is designed to complement real human bodies," he said. "Both will exist for the sake of people." ASIMO, which resembles a child in an astronaut suit, has been used as a receptionist and master of ceremonies at home and overseas, while dancing and singing with musicians at concerts. Honda has yet to decide on further details such as when the latest device will go on sale and at what price, but the company sees a market for it in Japan, which has an ageing population. "First, we hope to have visible results in rehabilitation and other medical fields," Hirose said. "Then we will look at welfare as another target." Last year, Honda unveiled its first walking assist device with a stride management system, which can help users move their thighs back and forth.

thank you ….. Let the dreams continue . . .