FYP FINALPRESENTATION

CT 26Soccer Playing Humanoid

Robot(ROPE IV)

CONTENT Introduction Objectives Work and Results

Mechanical Structure of ROPE IV Robot Control Problems and Solutions Results

Recommendations Conclusions

INTRODUCTION

Humanoid Robot

Motivation behind humanoid research: A machine that interacts naturally

with human spaces. People relate better to robots that

look similar to us. There is a basic desire to reproduce

ourselves.

Soccer

Why soccer for evaluating humanoid? Intensive in leg movements. Test for both speed and agility. Popular sport that can attract huge

number of participants.

RoboCup

One of the world major competition for robot.

Its vision.

RoboCup 2005 will be held July in Osaka, Japan.

RoboCup

Events Penalty Kick 2-2 Games Technical Challenge

Walk over rough terrain Walk around poles Shoot the ball against a pole

OBJECTIVES

OBJECTIVES

To build a humanoid robot (ROPE IV) with soccer playing ability.

Able to recover from fallen positions.

Participate in RoboCup 2005.

WORK AND RESULTS

Mechanical Structure ofROPE IV

ROPE IV is designed with 22 DOFs.

Actuated by servos: 17 DS8511, 3 HSR5995TG and 2 HS-5125MG servos.

Controlled by microcontroller ATmega128.

Locations and Orientations of DOFs on ROPE IV

Ankle Design

ROPE II ROPE IV

Hip Design I

ROPE II ROPE IV

Hip Design II

ROPE II ROPE IV

Body Design

Yaw

Pitch

Arm Design

ROPE IIROPE IV

Robot Control Microcontroller Atmega128 as

ROPE IV’s processor.

Two Basic Stamp2 for PWM signal generation.

Integrated onto a PCB designed for ROPE IV.

ROPE IV Controller Board

Walking

Basically joint space control.

The walking cycle was broken down into 6 phases.

LEFT SWING LEFT LANDING DOUBLE

RIGHT SWING RIGHT LANDING DOUBLE

LEFT SWING

Walking These 6 critical postures could be

adjusted by changing the parameters in the Cartesian space.

Parameters converted to joint space using inverse kinematics.

Currently, calculations for the interpolations of joint angles are done by Basic Stamp2.

Recovery from fallen position Made use of the arms and the

body pitch.

Involves co-ordinations between upper and lower body.

Problem in calculations done on Basic Stamp2.

(a) (b)

(c)

(d) (e) (f)

(g) (h)

Problems and Solutions

FORCE

Body Pitch Body Yaw

Shoulder Joint

Problems and Solutions

Yaw Shaft

Problems and Solutions

Problems and Solutions

Before Modification After Modification

Results

Walking

Recover for fallen position

Kicking

RECOMMENDATIONS

Further Robot Control

Algorithms for: Walking at higher speed Recovery from fallen facing up /

Flipping over from facing up to facing down

Other motions

Implementation of ATmega128.

Sensors Incorporation

CMUCam2

Infra-red sensors

Force sensors

Digital compass

Conclusions

A humanoid robot ROPE IV was built.

ROPE IV is capable of recovering from fallen position.

ROPE IV will be participating in RoboCup 2005.

THE END