Cerberus the Humanoid Robot: Part II - Component Selection and Manufacturing (original) (raw)
Related papers
Cerberus: Development of a Humanoid Robot
2006
The motive behind building humanoids is to design a robot that can duplicate the complexities of human motion, decision making, be able to help people and even accomplish tasks that cannot be carried out by humans. Building humanoids has always attracted scientists throughout the world but although the aim is seemingly simple, the task is never easy. This paper briefly describes the final design and gait definitions of the humanoid robot named Cerberus. Also, the manufacturing process and hardware selection is presented and wireless communication capability via remote control is explained. Software development for the Cerberus humanoid robot as well as the initial tests conducted on the prototype are addressed. The software package that is specifically developed for this biped includes the capability to describe the robot’s gait on the screen graphically by the click of a mouse, which is then transparently converted into the PBasic code to control the servos. This approach significa...
Cerberus the Humanoid Robot: Part I - Design
2005
The motive behind building humanoids is to design a robot that can duplicate the complexities of human motion, decision making, be able to help people and even accomplish tasks that cannot be carried out by humans. Building humanoids has always attracted scientists throughout the world but although the aim is seemingly simple, the task is never easy. In this series of articles, we are going to present the concept of a humanoid robot, named Cerberus, that walks like a biped and then switches its mode to a quadruped walker/crawler. In Part I, desirable system criteria, design alternatives, final design selection and kinematics of the robot are presented along with the humanoid robot’s simulations. Keywords Humanoid Robot, Cerberus Robot, Biped, Quadruped. 1. INTRODUCTION The motive behind building humanoids is simply to design a robot that can duplicate the complexities of human motion and genuinely help people. Although the motive is this simple, the task is never easy. For example i...
Development of Humanoid Robot Platform KHR-2 (Kaist Humanoid Robot 2)
International Journal of Humanoid Robotics, 2005
The mechanical and electrical system designs and system integration including controllers and sensory devices of the humanoid KHR-2 are presented. The design concept and the objective are also discussed. Since 2003, we have been developing KHR-2, which has 41 DOF (degrees of freedom). Each arm of KHR-2 has 11 DOF in total: 5 DOF/hand (i.e. fingers), 2 DOF/wrist, and 4 DOF/arm. Each leg constitutes 6 DOF. The head constitutes 6 DOF (2 DOF for eyes and 2 DOF at the neck), and the trunk has 1 DOF. KHR-2 has been mechanically designed to have a human friendly appearance and also wide ranges of angular motion. Its joint actuators have been designed in order to reduce motion uncertainties such as backlash. All axes of KHR-2 are under distributed control, which reduces the computational burden on the main controller and also to facilitate device expansions. We have developed a microprocessor-based sub-controller for servo motor operations, onto which sensory feedback is interfaced. The mai...
Development of a CORBA-based Humanoid Robot and its Applications
Humanoid Robots, Human-like Machines, 2007
Recently, the research on humanoid robots has attracted many researchers. The research spans from stability and optimal control, gait generation, human-robot and robot-robot communication. In addition, humanoid robots have been also used to understand better human motion. Among humanoid robot prototypes the most well known is Honda humanoid robot (Hirai et. al., 1998). This robot has the ability to move forward and backward, sideways to the right or the left, as well as diagonally. In addition, the robot can turn in any direction, walk up and down stairs continuously. Other example is the 35 dof (degrees of freedom) Saika humanoid robot (Inaba et al. 1998). This robot can perform a reach-and-grasp motion through coordinating legs and arms. The key idea of the system architecture of this robot is a remote brained approach. In addition, the Waseda humanoid robot group has also developed an anthropomorphic dynamic biped walking robot adapting to the humans' living floor (Takanishi et. al., 1990). Fujitsu also has developed a commercial 25 dof miniature humanoid robot, named HOAP-1, for research purposes. Weighing 6 kg and standing 0.48 m tall, the light and compact HOAP-1 and accompanying simulation software can be used for developing motion control algorithms in such areas as two-legged walking, as well as in research on human-to-robot communication interfaces. In our robotics laboratory at Yamagata University, we initialized the humanoid robot project. The goal of this project is to contribute to the research on humanoid robots. For this reason, we developed an anthropomorphic biped humanoid robot called Bonten-Maru. During the humanoid robot design, we tried to mimic as much as possible the human characteristics, from the viewpoints of links dimensions, body structure, as well as the number and configuration of the degrees of freedom. The high number of dofs helps the humanoid robot to realize complex motions in even and uneven terrains, like walking, going up and down stairs, crawling, etc. In this chapter, we present the development of Common Object Request Broker Architecture (CORBA) based humanoid robot control systems. Consequently, this chapter explains the application of real time generation of humanoid robot optimal gait by using soft computing techniques, and also teleoperation systems and its applications. Simulation and experimental results of the proposed system in
Antropomorphic Design and Operation of a New Low-Cost Humanoid Robot
… , 2006. BioRob 2006. …, 2006
This paper illustrates design and simulation results for a new low-cost humanoid robot that has been named as CALUMA (CAssino Low-cost hUMAnoid robot). A 3D-CAD model of CALUMA has been developed in order to check the design feasibility, possible component interferences and kinematic behaviour. A dynamic simulation in ADAMS environment has been carried out for CALUMA walking movements. Preliminary results of dynamic simulation have shown a falling down of CALUMA. Successful simulations of the robot walking movement have been obtained after carrying out some enhancements in the design of CALUMA.
Design of an autonomous humanoid robot
Proceedings of the …, 2001
This paper describes the design of an autonomous humanoid robot. The robot itself is currently under construction, however the process of designing the robot has revealed much about the considerations for creating a robot with humanoid shape. The mechanical design is a complete CAD solids model, with specific motors and transmission systems selected. The electronic design of a distributed control system is also complete, along with the electronics for power and sensor processing. A high fidelity graphical simulator has been developed, providing important early feedback on critical design decisions. Figure 1: Full CAD model of the GuRoo humanoid robot.
International Journal of Advanced Research in Science, Communication and Technology, 2023
This research paper contains detailed statistics about the robotic methods and systems. Artificial intelligence is increasing in the marketplace. The market is receiving totally depending on artificial intelligence for responsibility the multifaceted tasks. Robotics is a greatest famous division in the area of manufacturing and sciences. All engineers are taking attention to make a robot. It can do a certain task and can give optimum result for the given task. Every robotic engineer is trying to mark a robot with 0% error but it is not possible at the current technological state. It will give you the correct answer for every question without any error. It uses its database for, how it works and how it senses works. It will be enough for getting good information about robotics and devices along with the system of robots.
Development of a Low-Cost Humanoid Robot: Components and Technological Solutions
Climbing and Walking Robots, 2006
The paper presents a set of solutions to build a humanoid robot at reduced costs using off-the-shelf technology, but still aiming at a fully autonomous platform for research. The main scope of this project is to have a working prototype capable of participating in the ROBOCUP humanoid league, and to offer opportunities for under and pos-graduate students to apply engineering methods and techniques in such an ambitious and overwhelming endeavor. The most relevant achievements on this implementation include the distributed control architecture, based on a CAN network, and the modularity at the system level. These features allow for localized control capabilities, based both on global and local feedback from several sensors, ranging from joint position monitoring to force sensors. Force sensors on the feet were designed and integrated using strain gauges properly calibrated and electrically conditioned. Although some issues are yet to be completed, the stage of development is already enough for practical experiments and to obtain positive conclusions about the solutions proposed.
Design and Experiments of a Novel Humanoid Robot with Parallel Architectures
Robotics, 2018
In this paper, the mechanical design of the LARMbot 2, a low-cost user-oriented humanoid robot was presented. LARMbot 2 is characterized by parallel architectures for both the torso and legs. The proposed design was presented with the kinematics of its main parts—legs, torso, arms—and then compared to its previous version, which was characterized by a different leg mechanism, to highlight the advantages of the latest design. A prototype was then presented, with constructive details of its subsystems and its technical specifications. To characterize the performance of the proposed robot, experimental results were presented for both the walking and weight-lifting operations.