Abstract
The paper presents a set of solutions to build a humanoid robot at reduced costs using off-the-shelf technology, but still aiming at a fully autonomous platform for research. The main scope of this project is to have a working prototype capable of participating in the RoboCup humanoid league, and to offer opportunities for under and pos-graduate students to apply engineering methods and techniques in such an ambitious and overwhelming endeavor. The most relevant achievements on this implementation include the distributed control architecture, based on a CAN network, and the modularity at the system level. These features allow for localized control capabilities, based both on global and local feedback from several sensors, ranging from joint position monitoring to force sensors. Force sensors on the feet were designed and integrated using strain gauges properly calibrated and electrically conditioned. Although some issues are yet to be completed, the stage of development is already enough for practical experiments and to obtain positive conclusions about the solutions proposed.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
McGeer, T. (1990) Passive Dynamic Walking, International Journal of Robotics Research, Vol. 9, No. 2, pp. 62–82.
Garcia, M., et al. (1998) The Simplest Walking Model: Stability, Complexity, and Scaling”, ASME J. Biomech. Eng., Vol. 120, No. 2, pp. 281–288.
Hirai, K. et al. (1998) The Development of Honda Humanoid Robot, Proc. IEEE Int. Conf. on R&A, pp. 1321–1326.
Yamaguchi, J-I., et al. (1999) Development of a Bipedal Humanoid Robot — Control Method of Whole Body Cooperative Dynamic Biped Walking, Proc. IEEE Int. Conf. Robotics & Automation, pp. 368–374.
Kuffner, J., et al. (2002) Dynamically-Stable Motion Planning for Humanoid Robots, Autonomous Robots, Vol. 12, pp. 105–118.
Vukobratovic, M., Borovac, B., Surla, D., Stokik, D. (1990) Biped Locomotion — Dynamics, Stability, Control and Application, Springer-Verlag.
Pratt, J., Pratt, G. (1998) Intuitive Control of a Planar Bipedal Walking Robot, Proc. IEEE Int. Conf. on R&A, pp. 2014–2021.
Kajita, S., Tani, K. (1996) Experimental Study of Biped Dynamic Walking, IEEE Control Systems, vol. 16, n. 1, pp. 13–19.
Yamasaki, F., Miyashita, T., Matsui, T., Kitano, H. (2000) PINO the Humanoid: A Basic Architecture, Proc. Int. Workshop on RoboCup, Australia.
Furuta, T., et al. (2001) Design and Construction of a Series of Compact Humanoid Robots and Development of Biped Walk Control Strategies, Robotics and Automation Systems, Vol. 37, pp. 81–100.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Santos, V.M.F., Silva, F.M.T. (2006). Development of a Low-Cost Humanoid Robot: Components and Technological Solutions. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_50
Download citation
DOI: https://doi.org/10.1007/3-540-26415-9_50
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
Online ISBN: 978-3-540-26415-6
eBook Packages: EngineeringEngineering (R0)