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Made by: Balázs Pécskai (LogIntSys)
SIMON, the humanoid robot
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8/8/2019 SIMON the Humanoid Robot
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Made by: Balázs Pécskai (LogIntSys)
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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Made by: Balázs Pécskai (LogIntSys)
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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8/8/2019 SIMON the Humanoid Robot
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Made by: Balázs Pécskai (LogIntSys)
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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Made by: Balázs Pécskai (LogIntSys)
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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Made by: Balázs Pécskai (LogIntSys)
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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Made by: Balázs Pécskai (LogIntSys)
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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Made by: Balázs Pécskai (LogIntSys)
• 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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Made by: Balázs Pécskai (LogIntSys)
• 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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Made by: Balázs Pécskai (LogIntSys)
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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Made by: Balázs Pécskai (LogIntSys)
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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