Design and Implementation of Adult-sized Humanoid Robot with 3-DOF Dynamic Balancing Waist

Abstract

This thesis works on improving stability and balance for the walking pattern of the adult-sized humanoid robot Firstly design and implementation of the 2nd generation adult-sized humanoid robot David II is introduced The robot system architecture that contains design process and specification of the hardware and embedded system is mentioned too In order to make this adult-sized humanoid robot better than the previous one some new design concepts are also proposed in the thesis For example some mechanism parts are made of plastic material to reduce weight and self-designed gears are used as motor decelerator to enhance motor torque Moreover the waist joint is assigned three degrees of freedom Secondly in addition to the improvements in hardware the thesis describes how the sensors work with double-stage sensor fusion filter in embedded system as well Data of the three-axis gyroscopic sensor which is equipped on the upper body of the robot are processed by Kalman filter and integrated with the accelerometer and the magnetometer The fused feedback signal is used as an input to a dynamic control system such that servo motors at waist are able to balance the trunk The feedback control system continuously renews the angular position of servo motors to promote and improve the walking ability to adapt environmental change and various terrains Finally the feasibility and effectiveness of the proposed 3-DOF dynamic balancing waist are demonstrated by the footrace technical challenge in the humanoid league of RoboCup Japan Open 2013 and the penalty kick and obstacle run events in the HuroCup of FIRA 2013 Kuala Lumpur Malaysia

Date of Award	2014 Jan 27
Original language	English
Supervisor	Tzuu-Hseng S. Li (Supervisor)