SIMON the Humanoid Robot

8/8/2019 SIMON the Humanoid Robot

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Made by: Balázs Pécskai (LogIntSys)

SIMON, the humanoid robot

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Introduction

First of all I would like to mention the robot’s all of softwares andmechanical, electric parts made by me.

His name is SIMON. Simon is not a toy. He was made with the aim of helping people. That’s why your not a modell-size humanoid. He’s a perfectfor Artifical Intelligent research and developments

He is able to imitate several human movements:

• Sitting cross legs,

• cross his arms,

•

squat, etc…

The development of SIMON , a humanoid robot, was started in2003. The first prototype with approximately height of a human body (160cm) could not be completed because of unfavourable financial background.In 2004 the preparation of second prototype was began. This smaller robot(height : 74 cm, weight : 3,5 kg) was completed in March 2005..

• Main characters of SIMON v2

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http://www.logintsys.hu/FoMediaENG.htm

http://www.logintsys.hu/FoMediaENG.htm




o number of freedom : 24 (20 are controlled by PIC)

o height: 74 cm

o weight : 3,5 kg

o two arms with 3-3-movable fingers

o two eyes (100kpixels webcams)

Simon v2 was presented the public in May 2005 in the exhibition

INDUSTRIA 2005 (Budapest).In June 2005 the development of next generation was began. That's a

more precise and professional elaboration of the version 2. Every unit isprepared again (hardware and software, too)

• Main characters of SIMON v3

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o More powerful drivers -> quicker movement, bigger power o Modular structure

o Number of freedom: 28 + his two arms 9-9 = 46 !!!

o Number of controlled freedom: 24

o Height: ~115 cm o Weight : 6 kg

(without embedded computer, accu and plastic cover) o Each arm has got 3 fingers

o 2 eyes for creating 3D space (stereo-optic)

o Speaker in the mouth for speaking

o Microphones behind the eyes for hearing

o 2 axis accelerometer into the body

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Structure

Custom designed differential drive (individual reverse differential).3 part of fingers can embrace objects. The body is made of aluminium

•

Home-made plastic components:

• Gearboxes in joints made of plastic

(PVC and Teramid)

• Epoxi parts o Fingers

o Belt-discs

• Gearboxes on servos

• Modified servos (Because of larger range)

• Driving with curved profile belt

Electronic

• Joints of the robot are moved by servos

• Electric Circuit System in the body of therobot (5 pieces of PIC16F877).

• Modular structure: more PIC and Data-processing units can be connected witheach other (Cascade structure)

• Mostly SMD electric components

• Communication with accelerometer

• Powered by table supply source

(later by accu)

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Software

Software on microcontrollers:

•

Generation of PWM signal for servocontrolling

• Communication with PC • Processing of accelerometer signal

Softwares on PC:

• Controlling software

• Speech software

• Voice recognizing

• Image processing of two cameras

Controlling software

Simon’s controlling extremely complex. It’s one of the most intricateof the robotcontrolling softwares!

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Multilevel controlling

All types of movements helped by graphical simulator

• Direct servo positioning

• Direct to moving of joint (two servo together)

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• Diagramm-controlling

(all of joint positions are given position-time diagram)

•

Inverse kynematics !!! Path planning

You only give the orientation and position of the arms and foot,

the software compute the orintation of joints

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• Coreography + Motionplanning

You can form coreography out of elements of the diagram andinverse kynematics movement

Realtime coreographyYou put the element of movement on your computer keyboard

Simulation

• Simulation of gravity

• For test of motions

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Voice recognizing

• Spectrum analizing

• Teacing is based on Neural network

Image processing of two cameras

• Filters

• Edgedetection

• Stereo-optic algorythm

• 3D space in simulation

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Summary

Unfortunately, recently use servos are weak for this structure. Butsome company products perfect servos can give me a chance, that myrobot is able to stand by two legs and can walking and running.

I would like to introduce my development these companies, and I hopeSimon will be the base of the future high tech humanoid robots.

Thank for your listening!

Balázs Pécskai

LogIntSys Bt.

web: http://www.logintsys.hu/Telefon: +36-20/395-5601e-mail: [email protected]

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http://www.logintsys.hu/

mailto:[email protected]

http://www.logintsys.hu/

mailto:[email protected]

SIMON the Humanoid Robot

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