Master Thesis (2007)
Title: Humanoid robot: Development of a simulation environment of an entertainment humanoid robot

Abstract: This dissertation was developed in collaboration with Robosavvy Ltd and boosted the creation of the Humanoid Robotics Laboratory of IDMEC-Center of Intelligent Systems, at Instituto Superior Técnico. The developments presented include: i) the software development for interfacing the Matlab Real TimeWorkshop Toolbox with the Bioloid humanoid robot servos; ii) the identification of the internal and external dynamic parameter of the humanoid servos and structure, respectively; iii) the dynamics modeling and simulation of the humanoid robot using the SimMechanics and Virtual Reality Toolbox; iv) the deduction of the equations of motion for an underactuated n-link inverted pendulum. The main objective of the Humanoid Robotics Laboratory, for the time being, is to develop a humanoid robot able to make complex motions like walking, running and jumping through real-time feedback control techniques. This dissertation presents a LQR controller for the simulation and control of the humanoid robot doing the handstand on a high bar, by considering it as an underactuated 3-link inverted pendulum.

master_thesis.pdf
paper.pdf
presentation.rar

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European Robotics Week 

 

IDMEC/IST participates in the European Robotics Week -
28 November - 4 December 2011

One week with over 330 events of robotics throughout Europe!  

Our event European Robotics Week @ IDMEC/IST will open the doors of its Robotics Laboratory and will showcase its most recent research work in Surgical Robotics (Nov. 28th), Humanoid Robotics (Nov. 30) and Robotic Orthoses (Dec. 2)

More information on http://www.robotics-week.eu and http://euroboticsweekpt.isr.uc.pt .

 

In this webpage we present the current development status at the Humanoids Robotics Lab of the Department of Mechanical Engineering at Instituto Superior Técnico. The developments include the software development for interfacing humanoid robots with the Matlab Real Time Toolbox, the hardware developments towards wireless communication between the local robot controller and the remote PC, the identification of the internal and external dynamic parameters of the humanoid servos and structure, the dynamics modeling and simulation using simMechanics and the Virtual Reality toolbox. Our aim is the development of a humanoid robot able to make complex motions like walking, running and jumping through real-time feedback control techniques.

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Tutorial

Simple toturial about communication protocol, identification, simulation, virtualization and control using LQR of a Bioloid humanoid robot.

Bioloid humanoid main properties
Communication Protocols
Physical and Mechanical properties
The Bioloid Humanoid
Communication Protocol by RS232
Physical and Mechanical properties

Servo Identification

Virtual Reality Control
Servo Identification
Virtual Reality
Control & Simulation

 

Publications

International conferences

Pedro Teodoro, Miguel Ayala Botto, Carlos Cardeira ,Jorge Martins, José Sá da Costa, Limor Schweitzer, "Development of a Simulation Enviroment of an Entertainment Humanoid Robot doing a Handstand on a High Bar", Proceedings of Clawar 2008, the 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, pp 1161-1168 Coimbra, September 08-10th, 2008.

C. Cardeira, J. M. C. Sousa, J. R. Caldas Pinto, M. Ayala Botto, M. Ramalho, J. Sá da Costa, “Integrating mobile robots development and competitions in engineering curricula”, 12th IFAC Symposium on Information Control Problems in Manufacturing, Special Session “e-Learning and innovative pedagogie”, pp. 753-758, Saint-Etienne, France, May 2006.

National conferences

Pedro Teodoro, Mário Marques, Jorge Martins, Carlos Cardeira, Miguel Ayala Botto, Limor Schweitzer, José Sá da Costa, "Humanoid Robot Control Architecture", Proceedings of Robótica 2007, the 7th Conference on Mobile Robots and Competitions, Paderne, Algarve, April 27th, 2007. Link

Thesis

Magnus Andersson and Viktor Ronnert"Humanoid Handstand", Bachelor of Science Thesis, Instituto Superior Técnico, Universidade Técnica de Lisboa, Lisboa, July, 2009. Link

Pedro Teodoro, "Humanoid robot: Development of a simulation environment of an entertainment humanoid robot", MsC Thesis, Instituto Superior Técnico, Universidade Técnica de Lisboa, Lisboa, September, 2007. Link

 

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Sponsors

 


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