This document discusses humanoid robots, including their history, composition, types, and applications. It focuses on simulating a humanoid robot in a 3D environment and forming a control system using PID and fuzzy control. PID control aims to minimize error using proportional, integral, and derivative gains. Fuzzy control maps sensor inputs, processes results, and outputs conversions. Together, PID and fuzzy control allow the robot to maintain error/speed and position itself parallel to objects. Potential applications of humanoid robots include safe load carrying and cooperative object movement.

1. Presented by:
SM

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. 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. 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. Human Evolution vs. Humanoid Evolution

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. Composition
 Main components
Actuators – motion motors
Sensors – measure some attribute(sensing)
-proprioceptive
-exteroceptive
 Others
Manipulators
Power source

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. Configuration
■ Degrees of Freedom
 6 for each leg
 4 for each arm
 1 for each hand
 2 for waist
 1 for neck
Total 25 degrees of freedom

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. Few humanoid robots

12. Formation of Control System
 Simulation System Configuration
-Robotics lab
-9.8N gravitational force
-flat dry concrete floor
 PID controller
 Fuzzy control

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. Block Diagram

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. Block diagram

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?

19. Advantages and disadvantages
ADVANTAGES
 Safe load carrying
 Good efficiency
 High accuracy
 Less time consuming
DISADVANTAGES
 High cost
 Requires specialized people for maintenance

20. Humanoid Robot Applications

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