1 / 16

Development of a physical simulation of a real humanoid robot

Development of a physical simulation of a real humanoid robot . Logic Systems Laboratory (LSL) School of Computer and Communication Sciences Swiss Federal Institute of Technology, Lausanne Summer Semester Project 2004. Pascal COMINOLI 8 th Semester June the 21 th , 2004. Contents.

lore
Download Presentation

Development of a physical simulation of a real humanoid robot

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript


  1. Development of a physical simulation of a real humanoid robot Logic Systems Laboratory (LSL) School of Computer and Communication Sciences Swiss Federal Institute of Technology, Lausanne Summer Semester Project 2004 Pascal COMINOLI 8th Semester June the 21th, 2004

  2. Contents HOAP-2 Design Cooperation with a foreign student Center of mass Motion tool Reproduction of movies Further developments & Diploma Project

  3. HOAP-2 Compact, light weight, and easy-to-treat Easy connection to a personal computer Can be used as a human robotics research tool for studying areas, such as movement control and communications with humans

  4. HOAP-2 (2) 7kg including battery 25 degrees of freedom RT-Linux Wired mode using USB cable Wireless LAN mode

  5. Design Webots Sometimes different from the original specs Using pictures to compare ODE Access to the robot needed Easy to update

  6. Shapes Art of Illusion Measurements on pictures Easy to update (scale)

  7. Design

  8. Cooperation with a foreign student Department of Informatics, University of Edinburgh ”Developing Controllers for Biped Humanoid Locomotion” Develop a natural looking walking gait for a full body 22DOF humanoid robot He decided to use my HOAP-2 model

  9. Center of mass From the robot point of view Homogeneous coordinates Transformation matrices

  10. Center of mass (2) Rotation around an arbitrary point p(px, py, pz)

  11. Center of mass (3) • Representation in the world • Emitter • Receiver

  12. Motion tool Adaptation from an other semester project on QRIO Useful for my diploma project

  13. Reproduction of movies Movies available on Fujitsu web site Check the appropriateness of the model simulated compared to the real robot

  14. Reproduction of movies (2) Headstand

  15. Reproduction of movies (3) Sumo-like

  16. Further developments Update the design Update to Webots 4.0.23 ZMP Powerful physics-based simulation tools Artificial body  Artificial mind Diploma project…

More Related