Design of Control System for Humanoid Robot


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Design of Control System for Humanoid Robot

  1. 1. P E S Institute of TechnologyDepartment of Electronics and Communication Engineering Seminar On“Control System of Humanoid Robots for Dynamic Load Carrying” Guide, Dr. K Koshy George, By, Professor, Rohit Bhat 1PI08EC092 Dept. of TE, PESIT
  2. 2. Contents• Introduction• History• Composition• Simulation Environment and Configuration• Types of Humanoid Robots• Formation of Control System• PID Control• Fuzzy Control• Advantages & Disadvantages• Applications• Conclusion
  3. 3. Introduction Robotics deals with robots Recent enhancement in robotics - Humanoid robots Humanoid robots - having human characteristics or form Resemble human both in appearance and behavior “Elektro” is the first Humanoid Robot
  4. 4. History Integration of scientific and engineering fields, has a social dimension WASEDA University- leading research sites First usable robot by HONDA in 1996 HONDA Humanoid robots-brief history First high profile humanoid robot-Honda’s ASIMO-2000
  5. 5. Human Evolution vs. Humanoid Evolution
  6. 6. Why Develop Humanoids? More rational reasons • Can work in human environment • Environment and tools are adapted for us • Easier for interaction • Eases the work of humans • Because it is a dream of generations
  7. 7. Composition Main components Actuators – motion motors Sensors – measure some attribute(sensing) -proprioceptive -exteroceptive Others Manipulators Power source
  8. 8. Simulation Tools• 3D CAD model of the humanoid robot created using Solid Works 2003• Robotics Software Development Environment, Robotics Lab TM v.1.5• Addition of characteristics (weights)• Connection of each part• Surface Contact conditioner to walk
  9. 9. Configuration• Degrees of Freedom 6 for each leg 4 for each arm 1 for each hand 2 for waist 1 for neckTotal 25 degrees of freedom
  10. 10. Types of Humanoid Robots QRIO --pronounced ”curio”-”quest for curiosity” HRP ASIMO- Advanced Step in Innovative Mobility AIBO-Artificial Intelligence Robot PARO PaPeRo
  11. 11. Few humanoid robots
  12. 12. Formation of Control System Simulation System Configuration -Robotics lab -9.8N gravitational force -flat dry concrete floor PID controller Fuzzy control
  13. 13. PID Control Proportional-integral-derivative (PID) control Is control loop feedback mechanism Controller minimizes the error three-term control: P I D PID equation Kp – Proportional Gain Ki – Integral Gain Kd- Derivative Gain
  14. 14. Block Diagram
  15. 15. Fuzzy Control Definition-Fuzzy logic consists input stage, processing stage, output stage input stage maps sensor or other inputs processing stage generates & combines the results output stage – conversion of results
  16. 16. Block diagram
  17. 17. Formation of control system (contd…) Chest of the robot was basis Error and speed of object maintained by PID Reason for using PID Better efficiency than other controller Fuzzy controller -robot’s position parallel to object Why fuzzy control along with PID?
  18. 18. Advantages and disadvantagesADVANTAGES  Safe load carrying  Good efficiency  High accuracy  Less time consumingDISADVANTAGES  High cost  Requires specialized people for maintenance
  19. 19. Applications Automobile industry Manufacturing industry Infrastructure projects
  20. 20. Humanoid Robot Applications
  21. 21. Conclusionsafely move the objects co-operativelyCorrects position and speed of two robotsSmooth co-ordinationcarry objects safely on various surfaces Scope for improvement Design user friendly humanoids for Layman Cost effectiveness
  22. 22. QUERIEs