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

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

 

Master Thesis

Title: Humanoid robot: Development of a simulation environment of an entertainment humanoid robot
Type: Master Thesis
Author : Pedro Daniel Dinis Teodoro
Abstract:

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 (http://humanoids.dem.ist.utl.pt/). The developments presented include: i) the softwaredevelopment for interfacing the Matlab R° 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 R° and Virtual Reality Toolbox R°; 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.

Keywords: Keywords: Humanoid Identification, Servo Identification, Humanoid Simulation, Linear Quadratic Regulator (LQR), Underactuated Inverted Pendulum, Non-Minimum Phase-System.
Month September
Year 2007
School: Instituto Superior Técnico
Bibtex: @masterthesis{PedroDanielDinisTeodoro2007,
author={Pedro Daniel Dinis Teodoro},
month={september},
organization={Instituto Superior Técnico},
title={Humanoid robot: Development of a simulation environment of an entertainment humanoid robot},
year=2007,
}
File: dissertacao.pdf
Paper: paper.pdf
Presentation: presentation.rar

 

Bachelor of Science Thesis

Title: Humanoid Handstand
Type: Bachelor of Science Thesis
Author : Magnus Andersson and Viktor Ronnert
Abstract: Abstract: The purpose of this project is to make a commercial humanoid to do a handstand on a high bar. It is a continuation of the development of the Humanoid Robotics Laboratory of IDMEC-Center of Intelligent Systems at Instituto Superior Técnico (http://humanoids.dem.ist.utl.pt/). 
For the controllers, used in this project, to be able to control the humanoid, they need information about the humanoids position and angular velocity. This is obtained in different ways for different parts of the humanoid. For the passive joint, a web camera is used to continuously take pictures of the humanoids lower left arm, these pictures are then used for, with the help of picture recognition, finding the position of the passive joint. For actuated joints information of the positions are read directly from the actuators. This requires a fast and stable serial port communication between the humanoid and the PC. The communication is established by writing a costume made firmware for the humanoid, which allows us to send and receive wanted data via the serial port.  The humanoid consists of 18 actuators, 14 of them are set in a fixed position. This results in that the humanoid can be seen as an underactuated triple pendulum. A proportional controller is used during the up swing phase and when an almost up right position is reached a Linear Quadratic Regulator (LQR) stabilizes the humanoid in a handstand position.  
The handstand could never be achieved due to the fast angle detection and serial communication required by the controller. Because of the low frame rate given by the webcam, the angle of the passive joint could only be updated ten times per second. The serial communication was found able to send and receive four bytes in 0.03 seconds. But because an error free solution was needed, this value had to be lowered to 0.1 seconds. This resulted in that the system was found to slow for the controller.
Keywords: Keywords: Humanoid Identification, CM-5 to AX-12 communication, PC to CM-5 communication, Serial Communication, Simulink Solution Designs.
Month July
Year 2009
School: Instituto Superior Técnico
Bibtex: @masterthesis{MagnusAnderssonAndViktorRonnert2009,
author={Magnus Andersson and Viktor Ronnert},
month={July},
organization={Instituto Superior Técnico},
title={Humanoid Handstand},
year=2009,
}
File: dissertacao.pdf

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 


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