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
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