Loading...

Design and Implementation of a Gait Pattern for the Humanoid Tobot “Mina”

Abedi, Majid | 2015

536 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 48431 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Meghdari, Ali; Behzadipour, Saeed
  7. Abstract:
  8. In the resent years, social robots has been emerged to improve the interactions between humans and robots. These intractions are intended more in human environment. So the reasonable performance of such robots is achieved if robots’ motion; become similar to humans. Hence, despite the complexities of manufacturing and controlling the bipedal and humanoid robots, the researches on this class of robots are still in continuing more and more. In 2013, the humanoid robot, R-50, made by Robokind Company, was purchased by the Mechanical Engineering Department of Sharif University of Technology. This robot was named Mina and to be used in the researches on the treatment of autism patients. Although this robot had the walking possibility, no walking pattern has been designed for it, thus far. Due to this limitation, this thesis, found a walking pattern for Mina and implemented it on that. This pattern is specified according to the characteristics of the robots. First, a dynamic model of robot was developed in which 7 link, 12 degree of freedom and 9 concentrated mass were considered. Then, the inverse kinematics of Lower-body, i.e. a 12 degrees of freedom chain, was solved using center of mass method as the equilibrium condition. To this end, the kinematic equations of the robot are derived in the joints’ Cartesian coordination, and Newton-Raphson numerical method is utilized to solve the equations. This method resulted a significant increase in the calculations’ solutions’ rate. Finally, an algorithm was developed for the step by step displacement of the robot towards a desired destination in a two-dimensional space. Simulations showed the good performance of the proposed displacement’s algorithms, inverse kinematics and equilibrium condition. In the last step of this thesis, a safe space was provided in the laboratory to implement the proposed pattern on the robot. The robot’s acceptable movements indicated the suitability of the kinematic modeling. However, the stability of the robot was not fine. So, the factors disrupting the robot’s stability was identified and thereby the walking pattern was reformed as much as possible
  9. Keywords:
  10. Inverse Kinematics ; Social Robotics ; Bipedal Robot ; Normal Gait Pattern ; Humanoid Robot ; Walking Robot ; Mass Index Center

 Digital Object List

 Bookmark

No TOC