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P13201 Design Review

P13201 Design Review. Humanoid Robot Platform. Webots Robot Model. Benefits of WEBOTS Physics engine Simulation of full DOF humanoid Simulation of sensor input Control software in MATLAB Dynamic force modelling. Model use in Design. Design aid for finding required servo/joint strength

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P13201 Design Review

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  1. P13201 Design Review Humanoid Robot Platform

  2. WebotsRobot Model Benefits of WEBOTS • Physics engine • Simulation of full DOF humanoid • Simulation of sensor input • Control software in MATLAB • Dynamic force modelling

  3. Model use in Design • Design aid for finding required servo/joint strength • To design control algorithms with sensor input long before a physical hardware is available. • Design Inverse Kinematics Algorithm • Design Zero Moment Point Algorithm • Test viable walking gaits • Test strategies for fall recovery. • Control code very similar to code implemented in hardware controller.

  4. Humanoid Robot Model • 24 DOF • 6 DOF legs • 4 DOF arms • 2 DOF torso • Height of 0.74m • Humanoid proportions • Simulated sensors • Gyro • Compass • Accelerometer • Camera • Force sensors • Proximity sensors

  5. Robot Detailed Specs

  6. USE case simulations • Static force simulations not adequate • Additional forces, torques from body generated during dynamic motions. • High stress motions simulated to find maximum torque values. • Springs, max servo torques simulated to test adequacy of hardware. • Torque measured on all joints in real time. • Cases Simulated: • 2 sec. Crouch motion – stress on leg, knee joints • Splayed feet pose- stress on side leg side foot. • Fall recovery – stress on arms, body, legs.

  7. Crouch Motion

  8. Crouch Motion Leg Torque

  9. Crouch Motion Body Torque

  10. Get Up motion

  11. Get Up motion Body Torque

  12. Get Up motion Arm Torque

  13. Get Up motion Leg Torque

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