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

Physical and Mechanical Properties
  • Humanoid frames and parts
  • Walking Humanoid
  • Gymnast Humanoid

In order to obtain the most realistic 3D cad of the humanoid and at the same time keeping its physical and mechanical properties, it was measured in detail and precisily weighted all the frames and parts of the humanoid and then drawn and its weight set in SolidWorks 2008. All the files in rar, click here.

Servo AX-12

SolidWorks can calculate the center of gravity (CoG) of the any isotropic material (density is the same in every region), just as the frames ant the other parts of the humanoid. This is not true for the servo, since it has inside of a variety of different objects and materials, such as the rotor and the gears. Therefore it was necessary to tell SolidWorks, were was the CoG of the servo. Hence the servo is compound of 3 parts: the whell, the body and a small heavy point which indicates where is the center of gravity of the servo.

3D cad
name/mass (g)/files
3D cad
name/mass (g)/files
3D cad
name/mass (g)/files
Box
CoG point
Wheel
-- -- --
3DVIA.smg SolidWorks 2008 part.prt
VRML.wrl Autodesk inventor.ipt
3DVIA.smg SolidWorks 2008 part.prt
VRML.wrl Autodesk inventor.ipt
3DVIA.smg SolidWorks 2008 part.prt
VRML.wrl Autodesk inventor.ipt
Box + Wheel
Box + CoG + Wheel    
-- mean = 55.30  
3DVIA.smg SolidWorks 2008 assembly.asm VRML.wrl 3DVIA.smg SolidWorks 2008 assembly.asm
VRML.wrl Autodesk inventor.iam
 

Frames

3D cad
name/mass (g)/files*
3D cad
name/mass (g)/files*
3D cad
name/mass (g)/files*
F1
F2
F3
11.92 10.81 4.35
3DVIA.smg SolidWorks 2008 part.prt
VRML.wrl Autodesk inventor.ipt
3DVIA.smg SolidWorks 2008 part.prt
VRML.wrl Autodesk inventor.ipt
3DVIA.smg SolidWorks 2008 part.prt
VRML.wrl Autodesk inventor.ipt
F4
F5
F6
18.13 15.1 4.32
3DVIA.smg SolidWorks 2008 part.prt
VRML.wrl Autodesk inventor.ipt
3DVIA.smg SolidWorks 2008 part.prt
VRML.wrl Autodesk inventor.ipt
3DVIA.smg SolidWorks 2008 part.prt
VRML.wrl Autodesk inventor.ipt
F7
F8
F9
5.66 9.95 4.39
3DVIA.smg SolidWorks 2008 part.prt
VRML.wrl Autodesk inventor.ipt
3DVIA.smg SolidWorks 2008 part.prt
VRML.wrl Autodesk inventor.ipt
3DVIA.smg SolidWorks 2008 part.prt
VRML.wrl Autodesk inventor.ipt
F10
F11
F12
2.51 6.05 20.9
3DVIA.smg SolidWorks 2008 part.prt
VRML.wrl Autodesk inventor.ipt
3DVIA.smg SolidWorks 2008 part.prt
VRML.wrl Autodesk inventor.ipt
3DVIA.smg SolidWorks 2008 part.prt
VRML.wrl Autodesk inventor.ipt
F13 + F14
F15
F16
5.35+2.2=7.55 21.35 28.65
3DVIA.smg SolidWorks 2008 part.prt
VRML.wrl Autodesk inventor.ipt
3DVIA.smg SolidWorks 2008 part.prt
VRML.wrl Autodesk inventor.ipt
3DVIA.smg SolidWorks 2008 part.prt
VRML.wrl Autodesk inventor.ipt

*In order to edit some of these frames in SolidWorks it is necessary to download the fg.prt, fg.ipt and/or fg2.ipt frame.

Main parts

3D cad
name/mass (g)/files
3D cad
name/mass (g)/files
3D cad
name/mass (g)/files
Sensor AX-S1
CM5 box + PCB *
Battery
38.35 53+33.8=86.80 233.15
3DVIA.smg SolidWorks 2008 part.prt VRML.wrl 3DVIA.smg SolidWorks 2008 part.prt VRML.wrl 3DVIA.smg SolidWorks 2008 part.prt VRML.wrl
Expansion PCB
Cable end
Gymnast hand
3.65 0.52 18.52
3DVIA.smg SolidWorks 2008 part.prt VRML.wrl 3DVIA.smg SolidWorks 2008 part.prt VRML.wrl 3DVIA.smg SolidWorks 2008 part.prt VRML.wrl

* Since CM5 + PCB is anisotropic, the CoG was aproximated by considering the gap for the PCB, filled up with the same CM5 material.

Junction parts

3D cad
name/mass (g)/files
3D cad
name/mass (g)/files
3D cad
name/mass (g)/files
S1
S2
S3
0.16 0.19 0.22
3DVIA.smg SolidWorks 2008 part.prt VRML.wrl 3DVIA.smg SolidWorks 2008 part.prt VRML.wrl 3DVIA.smg SolidWorks 2008 part.prt VRML.wrl
SB
N1
N2
0.54 0.115 0.65
3DVIA.smg SolidWorks 2008 part.prt VRML.wrl 3DVIA.smg SolidWorks 2008 part.prt VRML.wrl 3DVIA.smg SolidWorks 2008 part.prt VRML.wrl
BU
WA    
0.38 0.19  
3DVIA.smg SolidWorks 2008 part.prt VRML.wrl 3DVIA.smg SolidWorks 2008 part.prt VRML.wrl  


3D cad
CoG & draw
name/mass (g)/files* (left/right)
left inertia tensor* (gcm2)
right inertia tensor' (gcm2)
Lower Arm

284.3

0.3

32.1

 0.3

267.0

5.1

32.1

5.1

 54.2

284.3

0.3

-32.1

 0.3

267.0

-5.1

-32.1

-5.1

 54.2

76.7
3DVIA.s SolidWorks 2008 part.a VRML.w 3DVIA.s SolidWorks 2008 part.a VRML.w
Upper Arm

238.7

0.0

0.0

0.0

190.4

3.6

0.0

3.6

 77.5

238.7

0.0

0.0

0.0

190.4

-3.6

0.0

-3.6

 77.5

76.5
3DVIA.smg SolidWorks 2008 part.asm VRML.wrl
Shoulder (F1)

 51.7

0.0

-4.7

 0.0

22.1

0.0

-4.7

0.0

 53.0

 51.7

0.0

4.7

 0.0

22.1

0.0

4.7

0.0

 53.0

11.9
3DVIA.smg SolidWorks 2008 part.asm VRML.wrl
Torso

10686.2

-1220.1

-71.4

-1220.1

8084.2

30.4

-71.4

30.4

 8636.2

695.4
3DVIA.smg SolidWorks 2008 part.asm VRML.wrl
Groin (F5)

 27.8

1.1

0.0

 1.1

133.6

0.0

0.0

0.0

 139.9

 27.8

1.1

0.0

 1.1

133.6

0.0

0.0

0.0

 139.9

15.1
3DVIA.smg SolidWorks 2008 part.asm VRML.wrl
Hip

 110.7

14.4

10.1

 14.4

542.4

-1.1

10.1

-1.1

 529.7

 110.7

14.4

-10.1

 14.4

542.4

1.1

-10.1

1.1

 529.7

137.0
3DVIA.s SolidWorks 2008 part.a VRML.w 3DVIA.s SolidWorks 2008 part.a VRML.w
Upper Leg

 253.6

13.9

0.0

 13.9

138.2

0.0

0.0

0.0

 169.2

 253.6

13.9

0.0

 13.9

138.2

0.0

0.0

0.0

 169.2

31.2
3DVIA.smg SolidWorks 2008 part.asm VRML.wrl
Lower Leg

435.2

1.2

1.0

 1.52

135.2

7.0

1.0

7.0

 372.1

435.2

1.2

-1.0

 1.52

135.2

-7.0

-1.0

-7.0

 372.1

86.5
3DVIA.s SolidWorks 2008 part.a VRML.w 3DVIA.s SolidWorks 2008 part.a VRML.w
Ankle

 110.7

-14.4

10.1

 -14.4

542.4

1.1

10.1

1.1

 529.7

 110.7

-14.4

-10.1

 -14.4

542.4

-1.1

-10.1

-1.1

 529.7

137.0
3DVIA.s SolidWorks 2008 part.a VRML.w 3DVIA.s SolidWorks 2008 part.a VRML.w
Foot

 115.8

-8.1

-6.0

 -8.1

394.8

7.8

-6.0

7.8

 337.0

 116.0

-8.1

6.2

 -8.1

395.0

-7.9

6.2

-7.9

 337.0

37.4
3DVIA.s SolidWorks 2008 part.a VRML.w 3DVIA.s SolidWorks 2008 part.a VRML.w
Full Body

 115.8

-8.1

-6.0

 -8.1

394.8

7.8

-6.0

7.8

 337.0

 116.0

-8.1

6.2

 -8.1

395.0

-7.9

6.2

-7.9

 337.0

1950
3DVIA.s SolidWorks 2008 part.a VRML.w 3DVIA.s SolidWorks 2008 part.a VRML.w

X = -0.6
Y = 0.3
Z = 0.4

* Available files in SW_complex.zip. Download the free software 3DVia Player to see the .smg file of the modelS. (Trully recomended even if you have SolidWorks)

' The moments of Inertia are taken at the center of mass and aligned with output coordinate system. These values were double checked.

Lxx = 313365.5 Lxy = 1413.6 Lxz = -106.2
Lyx = 1413.6 Lyy = 43980.0 Lyz = 313.8
Lzx = -106.2 Lzy = 313.8 Lzz = 284300.5

3D cad
CoG & draw
name/mass (g)/files*
inertia tensor* (gcm^2)
Arms

 28480.8

59.0

-0.7

 59.0

21259.3

-1.3

-0.73

-1.3

 7890.4

367.6
3DVIA.smg SolidWorks 2008 part.asm VRML.wrl
Trunk

 37606.6

-1916.5

-76.2

 -1916.5

12690.9

186.7

-76.2

186.7

 33409.5

999.7
3DVIA.smg SolidWorks 2008 part.asm VRML.wrl
Legs

 16793.3

1357.3

0.1

 1357.3

9192.7

-1.5

0.1

-1.5

 11681.0

584.2
3DVIA.smg SolidWorks 2008 part.asm VRML.wrl
Arms & Trunk

 111408.1

3983.0

-99.8

3983.0

34703.5

8.6

-99.8

8.6

 87372.6

1367.3
3DVIA.smg SolidWorks 2008 part.asm VRML.wrl
Trunk and Legs

 170940.7

-6465.1

-92.4

-6465.1

22183.7

505.4

-92.4

505.4

 161929.7

1583.9
3DVIA.smg SolidWorks 2008 part.asm VRML.wrl
Full body

 313365.5

1413.6

-106.2

1413.6

43980.0

313.8

-106.2

313.8

 284300.5

1951.5
3DVIA.smg SolidWorks 2008 part.asm VRML.wrl

* Available files in SW_complex.zip. Download the free software 3DVia Player to see the .smg file of the modelS. (Trully recomended even if you have SolidWorks)

' The moments of Inertia are taken at the center of mass and aligned with output coordinate system.

 


©2008-2011 Humanoid Robot Lab