an entertainment humanoid robot Pedro Daniel Dinis Teodoro
Orientador: Professor Miguel Afonso Dias de Ayala Botto
Co-orientador: Professor Jorge Manuel Mateus Martins
Lisboa-September-2007 INTRODUCTION Goal State of Art Objectives Guide The creation of the strong foundations for future Introduction This thesis was developed inincollaboration developments with Robosavvy Ltd humanoid robots. Set Up and boosted the creation of the Humanoid Robotics Laboratory Indentification Simulator of IDMEC-Center of Intelligent Systems, at Instituto Superior Control Tcnico (http://humanoids.dem.ist.utl.pt/ ). Results Conclusions Video
2 INTRODUCTION Goal State of Art Objectives Guide
Introduction Current commercially available humanoid robots are designed Set Up to perform motions using open-loop control. Indentification Simulator Control These robots are usually not able to move on uneven terrain Results Conclusions and it is difficult or impossible to get them to perform Video movements that require instantaneous reaction to momentary instability.
3 INTRODUCTION Goal State of Art Objectives Guide
Introduction 1. The establishment of a real-time protocol communication Set Up between the PC, using Matlab/Simulink and the robot Indentification Simulator Control 2. The identification of internal and external properties of the Results Conclusions humanoid robot. Video
3. LQR implementation for
stabilizing the humanoid robot on a high bar.
4 SET UP The humanoid Hardware Software robot Architecture Architecture Guide
Introduction Bioloid humanoid robot from Robotis.com
Set Up Indentification Simulator Control Results Conclusions Video
CM5 Controller AX12+ Servo 1 MBps the maincommunication controller of theSpeed. humanoid. Full 57600feedback bps to on Position (300o),data receive/transmite Speed, DC current, Voltageand through servos andPCTemperature. Can be set as an endless wheel. High Torque servos (1Nm). 5 SET UP The humanoid Hardware Software robot Architecture Architecture Guide
Introduction Humanoid control architecture
Set Up Indentification Simulator Control Results Conclusions Video
6 SET UP The humanoid Hardware Software robot Architecture Architecture Guide
Introduction Set Up C-MEX S-function written in C to Indentification Simulator communicate with the CM-5 throughout Control UART (universal asynchronous receiver / Results Conclusions transmitter). Video
C program for Atmega128 for completing
the serial communication bridge.
We have now a way to identify the
parameters of the humanoid models making online experiments. 7 IDENTIFICATION Mechanical DC Servo DC Servo Properties Properties Identification Guide
Introduction Mathematical Close Loop Pos Measured
Set Up Indentification Model Open Loop Speed signals Simulator Control Results Conclusions Schematic of joint and link for two different humanoid Video configurations.
8 IDENTIFICATION Mechanical DC Servo DC Servo Properties Properties Identification Guide
Introduction Mathematical Close Loop Pos Measured
Set Up Indentification Model Open Loop Speed signals Simulator Control Results Conclusions Video Possible internal block diagram control of the servos.
9 IDENTIFICATION Mechanical DC Servo DC Servo Properties Properties Identification Guide
Introduction Mathematical Close Loop Pos Measured
Set Up Indentification Model Open Loop Speed signals Simulator Control Results Conclusions Video
Experiments suggest that the
servos do not have internally Servos have an internal any angular velocity feedback feedback position control loop control.
10 IDENTIFICATION Mechanical DC Servo DC Servo Properties Properties Identification Guide
Introduction Mathematical Close Loop Pos Measured
Set Up Indentification Model Open Loop Speed signals Simulator Control Results Conclusions Video
Dead-zone effect due to Experiments show that the
stiction. In our case this was output estimated velocity error clearly quantified to be around is proportional to the voltage 7-10% of the full range. supplied to the servo.
11 IDENTIFICATION Mechanical DC Servo DC Servo Properties Properties Identification Guide
Introduction Mathematical Close Loop Pos Measured
Set Up Indentification Model Open Loop Speed signals Simulator Control Results Conclusions Video
Box Jenkins (2,1,2,1) was
The dynamic characteristics of found to best approximate the the servo are well captured by desired dynamical behavior of the BJ model. the servo.
0.06217 z TF z 2 1.469 z 0.5544
12 SIMULATOR The humanoid SimMechanics Virtual Reality model simulator animation Guide
Introduction The humanoid is treated as a three body serial chain in an
Set Up Indentification inverted pendulum configuration. Simulator Control Results Conclusions Video
13 SIMULATOR The humanoid SimMechanics Virtual Reality model simulator animation Guide
Introduction The system is underactuated, being the motion of the legs and Set Up Indentification torso prescribed in order to stabilize the full body of the Simulator humanoid above the high bar. Control Results Conclusions Video
14 SIMULATOR The humanoid SimMechanics Virtual Reality model simulator animation Guide
Introduction Set Up Indentification Parent-Child hierarchy Simulator Control Results Conclusions Video
15 CONTROL Equations of State-Space Linear Quadratic motion model Regulator Guide
Introduction b c The equations m l of motion l l cos q for a n k k k m d min( b ,c ) Set Up ij k j k a j a b i c j j i b c d 1 Indentification generic n-link underactuated I , i j Simulator inverted pendulum deduced from k
m m , i j Control ji ij
Results the Euler-Lagrange
n k equations. a
Conclusions g i m l cos q k i a 1 k a
b 1 b
Video n hi Ci m ij , j i 2 n k k min( b ,c ) Ci mk lblc q d k i b i c 1 j i d 1 b c sin qd min( b ,c ) , iff min( b, c) 1 d 1 n k k b c
m ij mk lblc q d min( b ,c ) k i b i c i j i d 1 b c
m11 m12 m1n q1 1 h1 1 sin qd min( b ,c ) , iff min( b, c) 1 m d 1 21 m22 m2 n q 2 2 h2 2 and
lc i k mnn q n n h3 n li i mn1 mn 2 li i k 16 CONTROL Equations of State-Space Linear Quadratic motion model Regulator Guide
Introduction Set Up Indentification in order to use linear control algorithms, the system dynamics Simulator is linearized, using a first order Taylor's expansion at the Control vertical unstable equilibrium, q=[/2,0,0]T and q =[0,0,0]T. Results Conclusions Video x Ax Bu
0 0 B l (mm) lc (mm) m (g) I (gcm2) 176 . 2065 97 . 5517 Link 1 (Arms) 143.6 68.7 367.6 7890.7 527.7831 467.2635 Link 2 (Torso) 115.8 57.5 981.5 32898.6 467.2635 697.9566 Link 3 (Legs) 184.0 116.3 576.4 11328.0
Physical properties 17 CONTROL Equations of State-Space Linear Quadratic motion model Regulator Guide
Introduction Set Up analyzing the zeros and poles Indentification Simulator of the system, it can be Control concluded that system is a Results Conclusions non-minimum phase one Video
Linear Quadratic Regulator
was chosen, which provides a linear state feedback control law for the system
u k T x Wothout With Angle Angle compensation compensation 18 RESULTS Ideal Servo Gyro Servo servo resolution resolution dead-zone Guide
Introduction Set Up Indentification Simulator Control Results Conclusions Video
19 CONCLUTIONS Achieved Control Recommendations Guide
Introduction This project has successfully achieved the creation of the strong Set Up Indentification foundations for future developments in humanoid robots. Simulator Control Results Conclusions Video
20 CONCLUTIONS Achieved Control Recommendations Guide
Introduction LQR strategy was successfully applied in the stabilization of
Set Up Indentification the humanoid on a high-bar although only in simulation and Simulator without the nonlinearities of the servos. Control Results Conclusions Video
21 CONCLUTIONS Achieved Control Recommendations Guide
Introduction Set Up Indentification Simulator Control Results Conclusions Video New nonlinear controller New (e.g. Sliding nonlinear mode model control) containing New the dynamics gyroscope and nonlinearities of the servos
22 VIDEO
Guide
Introduction Set Up Indentification Simulator Control Results Conclusions Video
23 Humanoid Robot Development of a simulation environment of an entertainment humanoid robot Pedro Daniel Dinis Teodoro
Orientador: Professor Miguel Afonso Dias de Ayala Botto
Co-orientador: Professor Jorge Manuel Mateus Martins
