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Development of a Humanoid Robot for Educational Purposes

Technical Report · January 2019

DOI: 10.13140/RG.2.2.13296.79360

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 Development of a Humanoid Robot for
Educational Purposes
Senior Project

by

Yehya Mohamad Yaghmour, 51530162

Submitted to the School of Engineering of the

Lebanese International University

Tripoli, Lebanon

in partial fulfillment of the requirements for the degree of

BACHELOR OF SCIENCE IN ELECTRICAL ENGINEERING

Spring 2019

Approved By

Dr. Abdelrazzak Merheb

Supervisor Name Date Signature

Dr. Marc Mannah

Committee Member Name Date Signature
 DEDICATION

First and foremost, I would dedicate this work to our supervisor Abdel-Razzak

Merheb for helping us in our project. We won’t be able to forget the support of our

friend Mr. Adam Dhaybi who helped us choosing the material to makie our robots. In

addition, we also would like to thank our friend Mr. Raja Mourad who helped us

ordering the equipment. Not to forget also Mr. Riad Kannouj who helped us in finding

the batteries for the robots. Finally, and not least, we have to thank our friends and

families for their continuous support and love.

ii
 ACKNOWLEDGEMENTS

We would deeply like to acknowledge the dean of the Engineering school at

LIU Prof. Amin Haj-Ali. In addition, we would like to express the greatest appreciation

to our supervisor Dr. Abdelrazzak Merheb who provided detailed guidance and

motivation throughout the course of establishing for and concluding this senior project,

for his valuable advices and helpful instructions. Many thanks to our committee

member Dr. Marc Mannah for his encouragement, patience, and for his valuable

guidance and advice.

iii
 ABSTRACT

There is a big lack of knowledge in the robotics field at the Lebanese students.

The aim of this project is to highlight on this field and introduce robotics in early

educational stages. This project shows two ways to program a humanoid robot with two

different controllers. The project presents two educational humanoid robot prototypes

directed to both school and university students. The first prototype is using a Lobot

controller that is easily programmed graphically. Students with minimum scientific

knowledge are capable of programming the robot in very short time. The second

prototype is using an Arduino Mega microcontroller as the core processor. This

prototype is directed to engineering school students that have good knowledge in C

programming.

iv
 TABLE OF CONTENTS

Dedication .................................................................................................................... ii

Acknowledgements .................................................................................................... iii

Abstract ....................................................................................................................... iv

Table of Contents .........................................................................................................v

List of Figures ............................................................................................................ vii

List of Tables .............................................................................................................. ix

Chapter 1. Introduction...............................................................................................1

1.1. Introduction .......................................................................................................1

1.1.1. History of robots and humanoid robots ...................................................1

1.1.2. Robot classifications ................................................................................6

1.2. Project overview ...............................................................................................7

1.3. Outline...............................................................................................................7

Chapter 2. Project Specifications ...............................................................................9

2.1. Introduction .......................................................................................................9

2.2 Equipments ..................................................................................................9

2.1.1. Servo motor..............................................................................................9

2.1.2. LiPo battery............................................................................................10

2.1.3. Lipo balance charger ..............................................................................11

2.1.4. Lobot Servo Controller ..........................................................................11

2.1.5. Arduino mega 2560 R3 ..........................................................................12

2.1.6. Joystick ..................................................................................................13

2.1.7. Bluetooth receiver ..................................................................................13

2.1.8. PWM 16 channel 12 bit driver ...............................................................14

v
 2.2. Cost .................................................................................................................14

Chapter 3. Design .......................................................................................................16

3.1. Introduction .....................................................................................................17

3.2. Mecahnical parts .............................................................................................17

3.3. Electrical parts ................................................................................................21

3.3.1. Lobot controlled prototype ....................................................................22

3.3.1. Arduino controlled prototype.................................................................23

3.4. Programming...................................................................................................23

3.5. Graphical programming ..................................................................................24

3.5.1. Arduino programming ...........................................................................26

Chapter 4. Results ......................................................................................................27

4.1. Programming example ....................................................................................27

4.2. Color Detection Using MATLAB ..................................................................29

Chapter 5. Conclusion and Future Work ................................................................36

5.1. Conclusion ......................................................................................................36

5.2. Future Work ....................................................................................................37

References ...................................................................................................................37

vi
 LIST OF FIGURES

Figure 1-1. The water clock by Al-Jazari [2]. ................................................................2

Figure 1-2. The robotic knight made by Da Vinci [4] ...................................................2

Figure 1-3. The writing humanoid robot invented by Pierre and Henry [6]. .................3

Figure 1-4. Elektro, the first electrical humanoid robot [8] ...........................................4

Figure 1-5. Qrio, the first humanoid robot was made by Sony [9] ................................5

Figure 1-6. ASIMO first humanoid robot made by Honda [12] ....................................5

Figure 1-7. Sofia the most advanced humanoid robot [13]............................................6

Figure 2-1. The servomotor used in the project. ..........................................................10

Figure 2-2. Lipo battery used. ......................................................................................10

Figure 2-3. Battery charger ..........................................................................................11

Figure 2-4. Lobot controller [22] .................................................................................12

Figure 2-5. Arduino mega 2560 R3 [24] .....................................................................12

Figure 2-6. Joystick of Lobot controller [22]...............................................................13

Figure 2-7. Bluetooth receiver of Lobot controller [22] ..............................................13

Figure 2-8. PWM 16 channel 12 bit driver ..................................................................14

Figure 3-1. The PVC hand ...........................................................................................18

Figure 3-2. The 3D printed hand ..................................................................................19

Figure 3-3. The aluminum alloy parts of the project [22]. ...........................................19

Figure 3-4. Humanoid robot [22]. ................................................................................20

Figure 3-5. Lobot controller prototype controlled with joystick and relays ................22

Figure 3-6. The Arduino controller prototype .............................................................23

Figure 3-7. The Arduino (right) and Lobot (left) controlled robots.............................24

Figure 3-8. Lewansoul servo controller [22]. ..............................................................26

vii
Figure 4-1. The right hand of the robot with servo number 12, 14, and 16 upside down.

......................................................................................................................................27

Figure 4-2. The right hand of the project on the PC software of the Lobot controller.

......................................................................................................................................28

Figure 4-3. Arduino controlled humanoid robot with camera .....................................29

Figure 4-4. Arduino Code for Servomotors .................................................................31

Figure 4-5 Cam Track code on Matlab program .........................................................33

Figure 4-6. Testing Cam Track code on Matlab ..........................................................35

viii
 LIST OF TABLES

Table 2-1. Budget calculation ......................................................................................14

ix
 CHAPTER 1. INTRODUCTION

1.1. INTRODUCTION

Nowadays, robots become a main element in modern life. From entertainment

to industry, research and scientific applications to military and surveying applications,

from pedagogic to agricultural applications, robots have invaded human life trying to

simplify and protect it. Robots can achieve a lot of complex tasks and dangerous duties

that humans cannot do.

1.1.1. History of robots and humanoid robots

A thousand years earlier, one of the first mechanical engineers who invented

machines was Al Jazari. In his book entitled “A Compendium on the Theory and Useful

Practice of the Mechanical Arts” Al Jazari presented the design of more than 50

mechanical devices in six different categories; he made many inventions such as a water

clock, hand washing advice, etc. The elephant water clock was the most important

invention made by Al-Jazari, it represents several cultures through automatic moving

sculptures that resemble to robots [1]. Error! Reference source not found. shows one

of Al-Jazari’s water clocks with a human like person that moves performs as a first

timing clock. [1]

1
 Figure 1-1. The water clock by Al-Jazari [2].

Leonardo Da Vinci is widely accepted as the first who invented humanoid

robots in 1495. The robot was a knight made of metal and that has limited tasks such as

waving its hand and moving its head while opening his jaw. Figure 1-2illustrates the

robotic knight with its internal parts [3].

Figure 1-2. The robotic knight made by Da Vinci [4]

2
 The 18th century was the century of developing robots as miniature

autonomous mechanical toys for rich people. These toys are designed to look like

humans or little animals which perform some simple movements [3]. In 1773 Pierre

and Henry Louis Jaquet-Droz made three doll automata that can be considered as

humanoid robots for entertainment purpose. The three dolls are a musician, a

draughtsman, and a writer that can perform their tasks with very good accuracy [5].

These toys are accepted as humanoid robot since they can move autonomously

[5]Figure 1-3 represents the three humanoid robots invented by Pierre and Henry.

Figure 1-3. The writing humanoid robot invented by Pierre and Henry [6].

In 1939, Roy J. Wensley changed the concept of humanoid robot by inventing

Elektro shown in Figure 1-4. Elektro was the first robot that can talk, sing, count, and

make tricks using electric machines. ‘Ladies and gentlemen I’ll be very glad to tell my

story. I am smart fellow as I have a very fine brain of 48 electrical relays’ this is how

electro introduced himself in NewYork world’s fair Electro; it weights118 kg with 2.1

meter tall [7]. However, Elektro was not a programmed humanoid robot. The first

3
programmed robot was a robotic arm for paint spraying invented in 1942 by Willard

Pollar and Harold Roselund.

Figure 1-4. Elektro, the first electrical humanoid robot [8]

In 1996, I-robot Corporation Company invented the first domestic military

crap-like robot that is able to remove mines, both in and out of water [9]. In 2000 Sony

Company invented the first humanoid robot that can make more than 10 face

expressions and express its emotion by speaking and make body languages. In addition,

this robot was the first robot that can walk on flat floor [10].

4
 Figure 1-5. Qrio, the first humanoid robot was made by Sony [9]

Honda Company invented ASIMO in 2000, who is its first humanoid robot

that can climb satires, run, turn smoothly, and even reach and gasp objects. [11] ASIMO

robot is shown in the figure below Error! Reference source not found. [11].

Figure 1-6. ASIMO first humanoid robot made by Honda [12]

In 2014 Hanson Robotics Company in Hong Kong made the first humanoid

that looks like human and can make more than 50 facial expressions. The female robot

was named Sofia, and made her first appearance in 2016 in Texas, shown in Figure 1-7.

[5].

5
 Figure 1-7. Sofia the most advanced humanoid robot [13]

1.1.2. Robot classifications

There are mainly five classifications of humanoid robot robots. First of all

there are war robots which are specified as fighting robots. In general, these robots are

controlled remotely. Then, there are BEAM robots that stand for Biology, Electronics,

Aesthetics, and Mechanics robots which are made to understand the robotics field .Also

there is the artistic robots specialized in dancing contest. In addition there is the

Construction Contest Robots. Finally there is the Open Category robots that includes

all robots that can fit in the previous categories; this category is made to make the person

show what its own robot can do [14]. So robotics began long time before and had been

updated through the years, and still updating till now. Problem Statement

It is widely accepted that humanoid robots are more and more spreading in our

lives.

Robots are used in hazardous and dangerous situations to replace human

beings. Worldwide use the robots as an assistant to help them to do work that human

cannot do. All mechanical equipment made in the industrial field has a huge space and

cannot do tasks that human do. Some of those tasks can be dangerous on humans and

the industrial machinery cannot interact with human as it should do.

6
 The problem that the Lebanese community faces in robotics field is that

children do not have any clue about it until they reach the university level. On the other

hand, Japan has institutions almost in every city to give knowledge to kids to know

everything about humanoid robots and how to program them [15]. On the other, side

Lebanese students do not know anything about robotics and how to program one till

they go to universities if the student decides to make a humanoid robot as its senior

project. This is what makes the Lebanese students are way behind the developed

technology.

1.2. PROJECT OVERVIEW

This project shows different ways to create a humanoid robot using the Lobot

controller and the arduino. And what are advantages and disadvantages of each

controller. And where each controller will lead and what can be add for each controller.

Also this project will contain a MATLAB program to make it detect objects and colors.

This project will show how the robotics in general and humanoid robots in

specific can be funny and productive at the same time for children. It will show how

building a robots and programming can be easy. So the students learn about robots in

early stage in their education.

1.3. OUTLINE

In chapter 2, the components that would be used, the cost of equipment and

the equations that are used to choose the equipment are presented. Chapter 3 will cover

the mechanical and electrical design of the humanoid robot. Chapter 4 will discuss the

7
results obtained, and finally chapter 5 will include the conclusion of this project and

what have been learned in it.

8
 CHAPTER 2. PROJECT SPECIFICATIONS

2.1. INTRODUCTION

This chapter covers the hardware components, their role, and applications.

Moreover, the properties of the components regarding the specification of the project

are discussed. Finally, a budget study including the cost of each component is

presented.

2.2 EQUIPMENTS

The following components are used to realize this project: servo-motors,

batteries, lipo balance charger, the LOBOT servo controller, a joystick, a bluetooth

receiver, Ardiuno mega, arduino uno and relays.

2.1.1. Servo motor

Servo motors are DC motors that can control angular positions precisely.

Servomotors should are controlled via PWM duty cycles supplied by a digital circuit or

a controller (microcontroller, Lobot controller, etc.) [16]. The servo motor includes a

control circuit, a potentiometer, a dc motor, an output spline, a drive gear, and the servo

case [17].

9
 Figure 2-1. The servomotor used in the project.

2.1.2. LiPo battery

This type of batteries is developed in 1980’s by John Good enough. LiPo

stands for lithium-ion polymer battery [18]. This kind of batteries can be used in various

applications, from computer powering to electric cars [19]. The LiPo battery is has

many mains advantages first of all it is rechargeable, also it has 4 times more energy

than of density of nickel cadmium or nickel metal hybrid batteries, in addition this kind

of battery is lighter and pliable. A car can run over this battery and never expose [20].

Figure 2-2. Lipo battery used.

10
2.1.3. Lipo balance charger

A lipo balance charger is a rapid charger intended to be used with Lipo

batteries. This charger can charge different batteries types such as (lipo, Life, Pb…);

with multiple cells. The properties of this charger include: internal independent lithium

battery balancer, balance to discharge, temperature limit, and capacity limit [21].

Figure 2-3. Battery charger

2.1.4. Lobot Servo Controller

There are many types of controllers suitable for servomotor control such as

the Arduino microcontroller. Initially, all these controllers are programmed in the same

way. In this project, the Lobot servo controller is chosen. This controller differs from

the others in that it can be programmed graphically. The Lobot servo controller has

many categories, such as (17 DOF, 24 DOF and 32 DOF), where every type of these

controllers the maximum number of servomotors.

11
 Figure 2-4. Lobot controller [22]

2.1.5. Arduino mega 2560 R3

An arduino mega 2560 R3 is a microcontroller that is based on the ATmega

2560. It has 54 digital input\output pins and 16 analog inputs; also it has 4 hardware

serial ports, in addition it has a USB connection, a power jack, an ICSP header, and a

rest button. This kind of arduino everything needed in microcontroller [23].

Figure 2-5. Arduino mega 2560 R3 [24]

12
2.1.6. Joystick

The Joystick is an input advice that is able to control on distance, and it mostly

used for gamming and graphical applications.

Figure 2-6. Joystick of Lobot controller [22]

2.1.7. Bluetooth receiver

Bluetooth is a wireless communication technology developed in 1994 that

connects devices on distance. The devices vary between mobile phones, servo

controllers, computers and play-stations. Bluetooth got its name from the tenth century

Viking king named Harald Bluetooth. Bluetooth technology has a frequency of 2.4 GHz

as. The maximum range of this technology is about 10 meters radius of wireless

network [25].

Figure 2-7. Bluetooth receiver of Lobot controller [22]

13
2.1.8. PWM 16 channel 12 bit driver

The PWM 16 channel 12 bit driver is device that is connected to the Arduino

to make more room for the PWM outputs pins

Each PWM channel has 12 bit resolution. As shown in the figure below the

PWM controller used in the second prototype [26]

Figure 2-8. PWM 16 channel 12 bit driver

2.2. COST

Error! Reference source not found. shows the cost of realizing the two

prototypes in this project. The cost is seen to be suitable for schools and universities to

adopt this project in their curricula.

Table 2-1. Budget calculation

EQUIPMENT COST

Lobot Servo 40$

Controller\ Bluetooth\ Joystick

14
 Lipo Battery 48$

Lipro Balance 24$

Charger

Servo Motor (7.5$x17)

Red (Lobot

controlled) Robot

Robot Body 53$

Arduino UNO 10$

Relays 15$

camera 7.5$

Total 325$

Arduino mega 2560 20$

R3

Lipo Battery 48$

Lipro Balance 24$

Charger

Servo Motor (7.5$x17)

Silver

(Arduino controlled)

Robot

Robot Body 53$

camera 7.5$

15
 16 channel 12-bit 13$

Driver

Total 293$

Project Total 618$

CHAPTER 3. DESIGN

16
 3.1. INTRODUCTION

In the previous chapters, the equipment used in this project is presented briefly.

This chapter will discuss mechanical and electrical parts along with equations used in

process to make this project work.

3.2. MECAHNICAL PARTS

There are two procedures to build the humanoid robot; either to choose the

body material first then the servomotor regarding the total weight, or choosing the

servomotor and then designing the body to meet the requirements.

During our struggles to build the robot body, we started with PVC material.

The robot hand was built and tested successfully, but it was realized that the robot will

be weak. The body may not hold the weight of the whole body. As shown in the figure

the finished PVC hand with servomotor. This prototype has been successfully worked

but it did not use because it was fragile and week.

17
 Figure 3-1. The PVC hand

As a second alternative, it was decided to build the robot body using 3D

printing. The hand was printed successfully, but this process took a very long time. The

result was satisfying but it took about 18 hours to finish; this means that the whole body

may not be reached on time. Moreover, the arm cost 40$, which means that the whole

body will cost a very high amount of money. AS shown in the figure below the 3D

printed hand that has been made it and test it but it did not use because it cost and time

for making it.

18
 Figure 3-2. The 3D printed hand

As a third alternative, it was decided to order aluminum humanoid robot body

which will offer light weight and more reliable design.

Figure 3-3. The aluminum alloy parts of the project [22].

19
 Building humanoid robot needs careful and complex tradeoffs in form,

function, power, heights, weights, and cost. For example it is essential to know how

many servomotors (Degree of Freedom) the project requires. The body is chosen to be

made of Aluminum where the design is inspired by Lobot humanoid robot. In this

project, the robot has 17 servomotors or degree of freedom (DOF). The dimension of

the humanoid robot is 64x55.6x20 cm and its weight is 60 gram. The body is made by

32 piece of aluminum. The wires length of each servo is 320 mm.

Figure 3-4. Humanoid robot [22].

20
 3.3. ELECTRICAL PARTS

In this project, a humanoid robot with 17 servomotors is chosen. Those servos

are chosen based on the material that this robot is made of, the height and the weight of

it. The equation that is used to choose the servo is:

𝝉=𝒅×𝒎×𝒈 (1)

Where τ is the torque of the servomotor to make it merge the line, d is the

distance the mechanical part, m is the mass of the body, g is the gravity constant equal

to 9.8Kgm2.

In addition, there is the Bluetooth device and the joystick. The joystick

connects to the robot controller through a Bluetooth device. The device is connected

directly to the controller using wires, and exchange information/commands with the

joystick.

The battery chosen for the humanoid robot is a LIPO battery. The design

choice for the battery is that it ensures the robot will work for 5 minutes minimum. It is

found that the robot under normal conditions draws about 1 A, so the duty time of the

battery can be calculated using the following equation,

𝐀𝐡
𝒕= (2)
𝐈𝐦𝐚𝐱

Where t is the duty time, Ah is the Ampere Hour of the battery and 𝐼𝑚𝑎𝑥 is the

maximum current drawn by the system. In our case 𝐼𝑚𝑎𝑥 = 1𝐴 , which means that for a

5 min of working time the Ah of the battery should be 5 Ah or 5000 mAh.

21
 3.3.1. Lobot controlled prototype

In this prototype, motion of the robot is programmed using “action groups”

designed using Lobot graphical programming language. Each button in the joystick is

then assigned to an action group or to a motion. The joystick buttons will be then

connected to Arduino Uno controller digital pins via a relay module. To make the robot

realize a given motion, the Arduino digital pin connected to the relevant joystick button

is made high. Using this method simplifies the robot control into a simple digital pin

control. Error! Reference source not found. shows the electrical connection of the

first prototype.

Note that the Arduino microcontroller seen in the figure is used to receive

navigation commands from the image processing program found on a PC.

Figure 3-5. Lobot controller prototype controlled with joystick and relays

22
3.3.1. Arduino controlled prototype

For the second prototype, direct Arduino programming is used to control the

angles of the servomotors. Here, a 16 channel 12-bit PWM/servo module is used to

assign the connection between the motors and the Arduino Mega. In this configuration,

each servomotor is controlled individually for the robot to perform a given motion. This

method is complex and requires attention for each robot motion that affects severely

the overall motion of the robot. Figure shows the electrical connection of the second

prototype.

Figure 3-6. The Arduino controller prototype

3.4. PROGRAMMING

The proposed robots can be programmed using two different methods, a

graphical method for the first prototype controlled with the Lobot, and C programming

23
for the second prototype controlled using Arduino. Figure 3-7 shows the two finished

prototypes of the educational humanoid robot.

Figure 3-7. The Arduino (right) and Lobot (left) controlled robots.

3.5. GRAPHICAL PROGRAMMING

The Lobot controller have been found and bought this controller is unique and

new. It contains 24 output and it works differently than other controllers in such that it

is graphically programed. There is several possible ways to send commands to the

Lobot controller. Lobot may receive its commands from the joystick directly via the

Bluetooth device, or can be controlled with an Arduino microcontroller. The joystick

sends predefined commands to the Lobot, and these commands should be programmed
24
on the computer and then saved into action groups inside the Lobot. Each button in the

joystick will be then assigned to an action group such that, when the button is pressed

the relevant action is fulfilled by the robot. The Lobot is programmed by sliding the

angle value of each servomotor on the GUI program. Whenever all the angles are

programmed, the user presses a button called “add action” to save the action step that

was already created. Finally, when all the steps are completed the user presses a button

called “download” to save the steps on the Lobot controller. The figure below shows

the PC software of the Lobot controller

After assigning each button in the joystick with an action group, the robot is

connected to a relay module controlled with an Arduino controller. Controlling the

robot becomes controlling series of digital pins. Each button in the joystick contains a

motion command that when pressed, the command is sent to the robot and the robot

performs the intended motion. A motion is then activated when the relevant relay is

activated as a result of a digital output from the relevant digital pin of the Arduino

Mega.

25
 Figure 3-8. Lewansoul servo controller [22].

3.5.1. Arduino programming

To program the second prototype, Arduino coding is used. Here, the Arduino

Mega controls directly the servomotors via setting the duty cycle of the PWM signals.

Each servomotor in the robot is controlled by changing its angle using C programming.

This programming method is more complex and requires good programming

knowledge making it more suitable for university students.

26
 CHAPTER 4. RESULTS

In this chapter, an example of robot programming is discussed. Moreover, a

sample project using the proposed platforms is presented.

4.1. PROGRAMMING EXAMPLE

As an illustrative example, the motion of the right hand with servomotors

number 12, 14, 16 is interpreted. The motion is a simple waving action. The waving

starts with servomotor number 12 which is made to move to position 2295. Then the

14th servomotor is moved to position 659 degree. Next, the 14th servomotor will be

back to its initial position which it is position 1500. Those movements are repeated to

have a full wave move. Next, the download button is pressed to download this motion

to the controller so the joystick will be able to perform the waving motion on distance

by using the Bluetooth device.

Figure 4-1. The right hand of the robot with servo number 12, 14, and 16 upside
down.

27
 Figure 4-2. The right hand of the project on the PC software of the Lobot
controller.

The hardest move was the forward walking movement. This is because the

balancing of the robot is a problem. However, the forward walking motion is

programmed successfully but with a small error: the robot shifts to the right while

walking forward. We believe that the problem is because the feet are smooth on the

ground. The solution was putting a piece of bathroom carpet on the feet to forbid

smoothing.

For the programming process using C programming, the same moves of the

first humanoid robot are repeated.

28
 4.2. COLOR DETECTION USING MATLAB

After finishing moving and making action of both prototype. It feels like

something missing to make this project complete and perfect as a senior project. So it

have been decided to make this project detect a given color using Matlab program.

Matlab works by using an algorithm to identify pixels of an object to specify colors or

range of colors the detect color can vanquish the rest of the colors of an object. [27]

Figure 4-3. Arduino controlled humanoid robot with camera

29
 And not only that for the second humanoid robot, this humanoid robot has

autonomously movement, it follows the first humanoid robot while it moves and can

detect the colors. It catches it and follows them by using a Matlab program on the

Arduino

30
Figure 4-4. Arduino Code for Servomotors

31
32
Figure 4-5 Cam Track code on Matlab program

33
34
Figure 4-6. Testing Cam Track code on Matlab

35
 CHAPTER 5. CONCLUSION AND FUTURE

WORK

This chapter will cover the concluding ideas of this project along with the

future work recommended for better improvement.

5.1. CONCLUSION

In this project we highlighted robotics in general and humanoid robots in

specific. One of the main objectives of our work was to present the possibilities of using

different controllers to control a humanoid robot.

The advantages and disadvantages of each controller (Lobot and Arduino) and

what the capability and the dead end if there is one of each one of them. The Lobot

controller’s advantages are: it is easy to be programmed because it has a graphically

code and sample to use. But its disadvantages it requires an extra microcontroller to

receive commands form the PC and it has a complex circuit and require changes to be

made on the original hardware.

For the Arduino its advantages are that it has a direct control of the

servomotors. It requires one microcontroller for receiving commands from the PC. But

its disadvantages are hard to program using C code and it require an extra PWM

controller because its restricted number of PWM channel.

This project is perfectly made for an educational purposes. It will teach

students different ways of programming and which controller is the most suitable for

them. And will know the capability of each controller, software and program.

36
 This project can be introduced to students in elementary schools using Lobot

controller. To get to know how to balance a humanoid robot and making moves. And

for the university students can use the Arduino to develop and humanoid robot to make

new application. This project allows students to think out of the box in an early

educational stage of their life and to make them think how they could develop in the

robotics field.

This project taught us different ways of programming and the advantages and

disadvantages of each controller (Lobot and Arduino). And how it gets programed and

the difficulties that faced us in a way by moves and balance the humanoid robot and by

other way by making a code to move this project and detect the objects and colors.

5.2. FUTURE WORK

Because the lack of time and a rushed schedule that it is full of exams and

studying, not everything that is planned to be in this project is done. Many tasks were

postponed and left for future work.

It is possible to add different types of sensors and program the controllers to

allow the robots to move autonomously. Obstacle avoidance algorithms can also be

developed. Another application could be the addition of speech recognition capability

to the robots. The robots will be able to detect human voice, and even take voice

commands from specific masters.

The future of this project will not only be limited to just educational purposes,

but also will be used as servant in homes and companies, and can even be used for

entertainment purposes in museums, parties, touristic tours, etc.

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