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

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

3. INTRODUCTION

4. Humanoid Robot Motivation behind humanoid research: 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.

5. Soccer Why soccer for evaluating humanoid? Intensive in leg movements. Test for both speed and agility. Popular sport that can attract huge number of participants.

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

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

8. OBJECTIVES

9. To build a humanoid robot (ROPE IV) with soccer playing ability. Able to recover from fallen positions. Participate in RoboCup 2005.

10. WORK AND RESULTS

11. Mechanical Structure of ROPE IV ROPE IV is designed with 22 DOFs. Actuated by servos: 17 DS8511, 3 HSR5995TG and 2 HS-5125MG servos. Controlled by microcontroller ATmega128.

12. Locations and Orientations of DOFs on ROPE IV

14. Ankle Design ROPE IIROPE IV

15. Hip Design I ROPE IIROPE IV

16. Hip Design II ROPE IIROPE IV

17. Body Design Yaw Pitch

18. Arm Design ROPE II ROPE IV

19. Robot Control Microcontroller Atmega128 as ROPE IV’s processor. Two Basic Stamp2 for PWM signal generation. Integrated onto a PCB designed for ROPE IV.

20. ROPE IV Controller Board

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

22. LEFT SWING LEFT LANDINGDOUBLE RIGHT SWINGRIGHT LANDING DOUBLE LEFT SWING

23. Walking 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 Stamp2.

24. Recovery from fallen position Made use of the arms and the body pitch. Involves co-ordinations between upper and lower body. Problem in calculations done on Basic Stamp2.

25. (a) (b) (c) (d) (e) (f) (g) (h)

26. Problems and Solutions FORCE

27. Body PitchBody Yaw Shoulder Joint

28. Problems and Solutions Yaw Shaft

29. Problems and Solutions

30. Before ModificationAfter Modification

31. Results Walking Recover for fallen position Kicking

32. RECOMMENDATIONS

33. Further Robot Control Algorithms for: Walking at higher speed Recovery from fallen facing up / Flipping over from facing up to facing down Other motions Implementation of ATmega128.

34. Sensors Incorporation CMUCam2 Infra-red sensors Force sensors Digital compass

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

36. THE END