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- ROBOTICS
HUMANOID ROBOT
Nhóm Cơ i n T và ng d ng
www.nhom3c.com
- Humanoid
CONTENT OF PRESENTATION
1. Introduction to Humanoid
2. Structure of Humanoid
3. Kinematics
4. Principle of balancing
5. Zero Moment Points
5. Several model of Humanoid in the world
- Humanoid
1. Oveview of Humanoid
Human-like robot
Legged robot Biped robot: robot can walk on
two legs
Applications
Entertainment
Achievement from research of humanoid can
apply in life and industry: robot hand, robot leg used for
invalids
- Humanoid
Compare with wheeled robot
Humanoid robot can move on uneven terrain, narrow space.
More complicated in structure
Expensiver
ASIMO
(Honda)
HOAP-1
(Fujitsu)
- Humanoid
Classification
By degree of freedom (DOF):
Asimo - Honda: 26 DOF, Height:1,2m, Weight: 43 kg:
Hoap-1 - Fujitsu: 20 DOF, W: 5.8 kg, (41000 USD)
Qrio - Sony: 24 DOF, for entertainment
HRP-1S - AIST& Honda: 26 DOF, used for driving the
constructing vehicles with remote control.
HRP –2P - Kawada: 30 DOF, cans stand up, kneel and
lie on the floor
Others type: Pino, BHR-1, H7, ARNE & ARNEA
By functions
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Robot ngaøy caøng thoâng minh, giuùp con ngöôøi trong nhieàu vieäc.
Ñònh höôùng quan troïng laø nghieân cöùu naâng cao khaû naêng “ töï
hoïc” cho robot, Rotbot coù theå nhaän bieát hình thuø, maøu saéc, gioïng
noùi vaø hôn theá laø khaû naêng tích luõy kinh nghieäm.
Vieäc taïo ra Robot gioáng ngöôøi laø moät thaønh töïu lôùn cuûa
nhieàu ngaønh khoa hoïc, vaø coù trieån voïng thay theá con ngöôøi
trong vieäc chaêm soùc nhöõng ngöôøi cao tuoåi, vaán ñeà xaõ hoäi
ñang noåi coäm ôû Nhaät .
Öôùc mô cuûa nhöõng ngöôøi saùng taïo ra robot laø gioáng hình
daïng cuûa con ngöôøi vaø thoâng minh nhö ngöôøi
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Giôùi thieäu humanoid
Robot Asimo ñi treân maët phaúng
- Humanoid
Giôùi thieäu humanoid
Robot Asimo ñi leân caàu thang
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Robot ca nhaïc
- Humanoid
Robot ñoàng dieãn
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Giôùi thieäu humanoid
Robot ñoàng dieãn
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§ 2. Caáu taïo humanoid
Döïa treân cô sôû laø caáu taïo cuûa con ngöôøi
Robot HRP-1S has 26 DOF.
Two arms have 12 DOF: 6 DOF for each arm.
Two legs have 12 DOF: 6 DOF for each leg:
3 DOF for hip articulate
1 DOF for knee articulate
2 DOF for ankle articulate
2 DOF for neck articulate.
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- Humanoid
Phaàn ñoäng hoïc
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- Humanoid
Caáu taïo toång quaùt
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I
§ 3. Ñoäng hoïc Heel Double
Strike support
II
Swing
phase Toe off
I II III IV
Right Left
leg leg
Toe off
Swing
phase
Double Heel III
Position of leg in ½ cycle of support strike
step IV
Cycle of step of human
- Humanoid
Movement of two legs in logging process
COM
Movement of center of gravity
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Tính ñieåm COM (Centre of mass)
x m(x) dx y m(y) dy
xc = ------------------ yc = ------------------
m(x) dx m(y) dy
z m(z) dz Σ pi m i
zc = ------------------ pc = ------------------
m(z) dz Σ mi
- Humanoid
Trajectory of foot and hip
Parameter of step
nguon tai.lieu . vn
