1. Development of a physical simulation of a real humanoid robot Logic Systems Laboratory (LSL) School of Computer and Communication Sciences Swiss Federal Institute of Technology, Lausanne Summer Semester Project 2004 Pascal COMINOLI 8 th Semester June the 21 th, 2004

2. Contents HOAP-2 Design Cooperation with a foreign student Center of mass Motion tool Reproduction of movies Further developments & Diploma Project

3. HOAP-2 Compact, light weight, and easy-to-treat Easy connection to a personal computer Can be used as a human robotics research tool for studying areas, such as movement control and communications with humans

4. HOAP-2 (2) 7kg including battery 25 degrees of freedom RT-Linux Wired mode using USB cable Wireless LAN mode

5. Design Webots Sometimes different from the original specs Using pictures to compare ODE Access to the robot needed Easy to update

6. Shapes Art of Illusion Measurements on pictures Easy to update (scale)

7. Design

8. Cooperation with a foreign student Department of Informatics, University of Edinburgh ”Developing Controllers for Biped Humanoid Locomotion” Develop a natural looking walking gait for a full body 22DOF humanoid robot He decided to use my HOAP-2 model

9. Center of mass From the robot point of view Homogeneous coordinates Transformation matrices

10. Center of mass (2) Rotation around an arbitrary point p(px, py, pz)

11. Center of mass (3) Representation in the world –Emitter –Receiver

12. Motion tool Adaptation from an other semester project on QRIO Useful for my diploma project

13. Reproduction of movies Movies available on Fujitsu web site Check the appropriateness of the model simulated compared to the real robot

14. Reproduction of movies (2) Headstand

15. Reproduction of movies (3) Sumo-like

16. Further developments Update the design Update to Webots 4.0.23 ZMP Powerful physics-based simulation tools Artificial body  Artificial mind Diploma project…