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.


The Bioloid Humanoid
  • Overview
  • DH parameters
  • Main mesurements

The selected humanoid is the Bioloid. It has 18 servos and can be split into 19 main blocks.

We have studied two main configurations for the humanoid: the original one (named by us as the Walking Humanoid) and a special configuration for makink the humanoid doing a handstand on a highbar (in this case, Gymnast Humanoid, which can be split in 3 main blocks).

For both Walking Humanoid and Gymnast Humanoid, a 3 different types of solidworks models have been made. The first one (complex model) is a detailed model of the humanoid for achieving the correct tensor inertias and center of gravities of each Bioloid main block and the DH parameters. The second one (simple model) is an undetailed one, but maintaining the correct measurements for virtual reality animaton. The third one (cube model) is a basic cube model of the humanoid for real-time virtual reality animation.

The next image shows the Walking Humanoid main blocks and joints (complex model).


The following image shows the Gymnast Humanoid main blocks and joints (complex model).


Denavit Hatemberg parameters for the Walking Humanoid (Kind of)


DH parameters for the Gymnast Humanoid (Kind of)

The image bellow shows the simple model main measurements of the Walking Humanoid.

The image bellow shows the simple model main measurements of the Gymnast Humanoid.
















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