Abstract
This paper describes the system overview and biped walking mechanism of the humanoid robot, Spark. Spark is able to mimic various human expressions, hand gestures, walking actions, recognize various human faces and objects and perform vocal communication. Spark has a total of 66 Degrees of Freedom (DOF). Each arm has 20 DOF and each leg has 6 DOF. The head has 12 DOF and Trunk has 2 DOF. The Broadcom BCM2711 processor is used for all the major operations. It is also acting as a Master control unit for other microcontrollers present in different parts of Spark’s body. This system is based on the Raspbian Operating System. Mechanical assembly is based on a hybrid system which includes both serial and parallel operations.
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Acknowledgement
This research is mainly supported by PCCOER (Pimpri Chinchwad College of Engineering & Research). We thank Mr. Walmik R. Gawhale for the constant guidance, support and initial funding in this research. We thank Dr. H.U. Tiwari (Principal, PCCOER) and Dr. Rahul Mapari (H.O.D., E &TC, PCCOER) for their guidance and support throughout this research.
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Gawhale, K. et al. (2022). Humanoid Robot - Spark. In: Raman, B., Murala, S., Chowdhury, A., Dhall, A., Goyal, P. (eds) Computer Vision and Image Processing. CVIP 2021. Communications in Computer and Information Science, vol 1568. Springer, Cham. https://doi.org/10.1007/978-3-031-11349-9_13
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