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

ActuatedCharacter Project

ActuatedCharacter is a 2-year European Project (EUREKA/EUROSTARS) elected for funding in 2009 with a total amount of 200 k€.

This project results from a joint cooperation between Move-Interactive (Video Game development company based in Portugal), IST-Instituto Superior Técnico, RoboSavvy (hobby education robotics company based in UK), and NoDNA (hobby education robotics company in Germany).

This project aims to develop and introduce the innovative concept of "bringing video games to life". Using advanced motion control techniques, the project shall develop a 3D video game engine plugin and a prototype real humanoid robot, creating a parallel between real and virtual worlds.

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