FYP FINAL PRESENTATION CT 26 Soccer Playing Humanoid

FYP FINAL PRESENTATION CT 26 Soccer Playing Humanoid Robot (ROPE IV)

CONTENT n n n Introduction Objectives Work and Results n n n Mechanical Structure of ROPE IV Robot Control Problems and Solutions Results Recommendations Conclusions

INTRODUCTION

Humanoid Robot n Motivation behind humanoid research: n n n 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 n Why soccer for evaluating humanoid? n n n Intensive in leg movements. Test for both speed and agility. Popular sport that can attract huge number of participants.

Robo. Cup n n n One of the world major competition for robot. Its vision. Robo. Cup 2005 will be held July in Osaka, Japan.

Robo. Cup n Events n n n Penalty Kick 2 -2 Games Technical Challenge n n n Walk over rough terrain Walk around poles Shoot the ball against a pole

OBJECTIVES

OBJECTIVES n To build a humanoid robot (ROPE IV) with soccer playing ability. n Able to recover from fallen positions. n Participate in Robo. Cup 2005.

WORK AND RESULTS

Mechanical Structure of ROPE IV n n n ROPE IV is designed with 22 DOFs. Actuated by servos: 17 DS 8511, 3 HSR 5995 TG and 2 HS-5125 MG servos. Controlled by microcontroller ATmega 128.

Locations and Orientations of DOFs on ROPE IV

Ankle Design ROPE II ROPE IV

Hip Design I ROPE IV

Hip Design II ROPE IV

Body Design Yaw Pitch

Arm Design ROPE IV ROPE II

Robot Control n n n Microcontroller Atmega 128 as ROPE IV’s processor. Two Basic Stamp 2 for PWM signal generation. Integrated onto a PCB designed for ROPE IV.

ROPE IV Controller Board

Walking n n Basically joint space control. The walking cycle was broken down into 6 phases.

LEFT SWING RIGHT SWING LEFT LANDING DOUBLE RIGHT LANDING DOUBLE LEFT SWING

Walking n n n 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 Stamp 2.

Recovery from fallen position n Made use of the arms and the body pitch. Involves co-ordinations between upper and lower body. Problem in calculations done on Basic Stamp 2.

Problems and Solutions E C FOR

Body Pitch Body Yaw Shoulder Joint

Problems and Solutions Yaw Shaft

Problems and Solutions

Problems and Solutions Before Modification After Modification

Results n Walking n Recover for fallen position n Kicking

RECOMMENDATIONS

Further Robot Control n Algorithms for: n n Walking at higher speed Recovery from fallen facing up / Flipping over from facing up to facing down Other motions Implementation of ATmega 128.

Sensors Incorporation n CMUCam 2 n Infra-red sensors n Force sensors n Digital compass

Conclusions n n n A humanoid robot ROPE IV was built. ROPE IV is capable of recovering from fallen position. ROPE IV will be participating in Robo. Cup 2005.

THE END