Hardware architecture for humanoids

Harddef

Description

In contrast to industrial robots a humanoid robot will interact with a person in the same workspace. To be able to interact with a human and to operate in like a human mode, sensorimotor skills of the robot are required. The humanoid robot must be equipped with actuators and with a number of different sensors to control its movements and monitor its state and to avoid collisions with humans or objects in the environment.

Summarizing the requirements there are:

? hardware architecture must comply with needed computing power
? scalability
? modularity
? standardized interfaces

Especially in humanoid robots there are additional requirements like:

? energy efficiency
? small outline
? lightweight
? small effort in cabling

The main goal of the humanoid robot control system is provide it with stable walking and avoid fallings down. To do this we generate motion pat-terns for each articulation according to the ZMP (Zero Moment Point) theory. The humanoid robot do not falls down when the target ZMP is inside of the support polygon made by the supporting leg(s).

Hardware architecture

Figure 1 shows an overview of the hardware structure. Presented architecture is provided with large level of scalability and modularity by dividing the hardware system into three basic layers. Each layer is represented as a controller centered on its own task such as external communications, motion controller?s network supervision, and general control.

Fig.1 Harware architecture

Bottom level software architecture

We developed the bottom level software for the advanced motion control system. It configures intelligent motion controllers, establishes CAN communication, controls trajectory execution and collects motion data which is used in humanoid robot control process. Figure 2 shows the bottom level software architecture.

Fig.2 Software architecture

Entries:
Real-Time Gait Planning for Rh-1 Humanoid Robot Using Local Axis Gait Algorithm
International Journal of Humanoid Robotics. Print ISSN: 0219-8436. Online ISSN: 1793-6942. num. 1 , vol. 6 , pages: 71 – 91 , 2009
M. Arbulu
The Rh-1 full-size humanoid robot: design, walking pattern generation and control
Journal of Applied Bionics and Biomechanics (Print ISSN: 1176-2322, Online: ISSN: 1754-2103). num. 3 , vol. 6 , pages: 301 – 344 , 2009
M. Arbulu D. Kaynov L.M. Cabas

Entries:
Aiming for multibody dynamics on stable humanoid motion with Special Euclideans groups, called SE(3) (Accepted)
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan
M. Arbulu S. Martinez A. Jardon C.A. Monje
Aiming for Multibody Dynamics on Stable Humanoid Motion with Special Euclidean Groups
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS聮2010, 2010, Taipei, China
M. Arbulu S. Martinez A. Jardon C.A. Monje
Optimal gait synthesis of biped robot pasibot using artificial intelligence based predictive control
12th International Conference on Climbing and Walking Robots (Clawar'09), Istanbul,
J.G. Quijano A. Jardon
K., Yokoi, A., Kheddar, C., Balaguer<br>Dynamic acyclic motion from a planar contact-stance to another
IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, Nice, France
M. Arbulu
Real -Time gait planning for Rh-1 humanoid robot, using Local Axis Gait algorithm
IEEE-RAS International Conference on Humanoid Robots (Humanoids'2007), Pittsburg-Pensi, USA
M. Arbulu
Trends of new robotics platform, designing Humanoid Robot Rh-1
CARS & FOF 0723rd ISPE International Conference on CAD/CAM Robotics and Factories of the Future, 2007, Bogota, Colombia
M. Arbulu D. Kaynov L.M. Cabas P. Staroverov
Nuevas tendencias en plataformas de rob贸tica, caso robot humanoide Rh-1
Intercon 2007XIV Congreso Internacional de Ingenier铆a El茅ctrica, Electr贸nica y Sistemas, 2007, Piura, Peru
M. Arbulu D. Kaynov L.M. Cabas P. Staroverov
Rh-0 humanoid full size robot`s control strategy based on the Lie logic technique
IEEE-RAS International Conference on Humanoid Robots (Humanoids'2005), 2005, Tsukuba, Japan
M. Arbulu D. Kaynov J. M. Pardos-Gotor P. Staroverov
Rh-0 Humanoid Robot Bipedal Locomotion and Navigation Using Lie Groups and Geometric Algorithms
International Conference on Intelligent Robots and Systems (IROS'2005), Edmonton, Canada
J. M. Pardos-Gotor
Inverse Dynamics of Humanoid Robot by Balanced Mass Distribution Method
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2004), 2004, Sendai, Japan
M. Arbulu
User friendly graphical environment for gait optimization of the humanoid robot Rh-0
7tn International Conference on Climbing and Walking Robots (Clawar'2004), 2004, Madrid, Spain
M. Arbulu P. Staroverov
Humanoid Robot Kinematics Modeling Using Lie Groups
7th International Conference on Climbing and Walking Robots (Clawar'2004), Madrid, Spain
J. M. Pardos-Gotor

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