TUHH

Humanoid
Robot
Project
Boston Dynamics Motivation

Applied
Humanoid
Robotics
RoboCup - Standard Platform League Motivation

Applied
Humanoid
Robotics
RoboCup – Humanoid Adult Size League Motivation

Applied
Humanoid
Robotics
Goals Goals

 Development of a Platform for RoboCup (adult

size) and University Research Programs

 Design and build own Robot (adult size)

 Semester goals:

Let the robot kick a ball

Make the Bit-Bots framework fully operating Applied
Humanoid
Robotics
Previous Work Catch up

 Only some brief impressions

 For in depth content please see the final presentations of last

semester’s course or browse the wiki.

Applied
Humanoid
Robotics
Previous Work – Frame & Body Catch up

Goal:
Design the underlying structure and manufacture
the desired parts for the robot platform

Current status:
 Introduction of the NimbRo-OP2X as the base
platform
 Reworked or redesigned problematic parts
 Assembled all parts after successful delivery or
printing
 One camera setup designed and printed

Applied
Humanoid
Robotics
Previous Work – Electronics Catch up

Goal:
Establishment of the design and application of
equipment, devices and systems (e.g. sensors)
which use electricity and are needed for the
robot platform.

Current status:
 Intel NUC
 Wolfgang CORE board (to be updated) Wolfgang CORE Board

 Wiring of the Dynamixel motors completed

 Internal voltage supply via battery installed
 Camera, Microphone and Speakers
 Connection of sensors still to be done Applied
 NVIDIA Jetson still to be integrated Humanoid
Robotics

Intel NUC
Previous Work - Software Catch up

Goal:
Establishment of the software architecture
necessary for the robot to detect the ball and
other robots and conclude the optimal
movement.

Current status:
 Webots simulation of Nimbro in ROS2
 Communication with the Dynamixel
motors
 Running on the Intel NUC
 Camera communication established
 .urdf and .srdf files need to be adjusted Applied
Humanoid
for our robot Robotics
 Organization
Reporting to:
Patrick, Hans
and Leon

Frame & Body Lead Electronics Lead Software Lead

Member Member Member

Frame & Body Dep Electronics Dep Software Dep

Applied
Humanoid
Robotics

10
Work Packages – Stage 1 Motivations and Prior
Endeavors

Frame and
Software Electronics
Body

• Cable management
• Automate export of • Finish Adaptation of
changed CAD files to Packages of Bit-Bots • Emergency Stop
provide updated framework
files for Webots (urdf and srdf files) • Foot sensors pcb +
integration + imu
• 3D Printer Tuning • Functionality testing extension
(hardware and digital twin)
• Design and print of • Microphone and
final parts speaker
Applied
Humanoid
Robotics
Document your work!
16. Export of changed CAD files Work Packages

Description: Frame & Body

• To test the robot design in Webots the CAD files have to be

delivered in a specific format

Tasks:
• Familiarize yourself with the CAD and Webots environment
• Find plug-ins that are suited for the conversion
• Automate the workflow as much as possible
Deliverables:
• Simple and mostly automated workflow from CAD to Webots
• Updated Documentation Applied
Humanoid
Robotics

12
17. 3D Printer Tuning Work Packages

Description: Frame & Body

• The 3D Printer in the control lab is not setup properly for reliable
printing

Tasks:
• Setup and calibrate the 3D Printer
• Find printing parameters
• Document your work
Deliverables:
• Printer and Setup
• Printing Settings Applied
• Documentation Humanoid
Robotics

13
18. Design and print of final parts Work Packages

Description: Frame & Body

• Most of the parts are 3D printed internally and externally

• Some parts are still missing or subject to change

Tasks:
• Design and print a suitable backcover for the robot
• Introduce an emergency shutdown button (with electronics team)
• Document your work
Deliverables:
• Backcover
• Emergency button Applied
• Updated documentation Humanoid
Robotics

14
19. Adaptation of Bit-Bots framework Work Packages

Description: Software

• The Bit-Bots team already has a large codebase that we use in some
parts. The framework is written for their platform and needs to be
adated to our needs.
Tasks:
• Familiarize yourself with the architecture of the framework
• Find submodules that need to be changed for our robot
• Change those submodules and integrate them into our system
Deliverables:
• All submodules running on the robot
• Complete codebase up to date Applied
• Updated documentation Humanoid
Robotics

15
20. Functionality testing Work Packages

Description: Software

• The submodules of the framework should be tested individually on

our platform.

Tasks:
• Identify access points for testing in the architecture
• Create testing environments
• Test each submodule
Deliverables:
• All modules tested on our platform
• Updated documentation Applied
Humanoid
Robotics

16
21. Cable management Work Packages

Description: Electronics

• Current cable management of the power supply and sensors is only

provisionaly

Tasks:
• Find a proper solution for the cable management
• Design or redesign parts
• Keep in mind possible additional cables from new sensors
• Document your work
Deliverables:

• Updated documentation Applied

Humanoid
Robotics

17
22. Emergency Stop Work Packages

Description: Electronics

• There is no switch to immeadiatly turn off the power supply of the

motors and computing units in case of an emergency

Tasks:
• Introduce an emergency shutdown button
• Further adapt the system to shutdown the motors seperatly
• Document your work
Deliverables:
• Emergency button
• Updated documentation Applied
Humanoid
Robotics

18
15. Foot sensors Work Packages

Description: Electronics

• First test with pcb sensors were done last semester

Tasks:
• Further develope the implementation of the sensors
• Integrate them into the system and body
• Upgrade the system with additional imu sensors
• Document your work
Deliverables:
• Foot sensors
• Software integration Applied
• Updated documentation Humanoid
Robotics

19
23. Microphone and speaker Work Packages

Description: Electronics

• Currently no microphone or speaker is installed inside the

robot
• First tests have been made
Tasks:
• Familiarize with current ideas and/or develop new ones
• Integration into body
• Estabilish connection to power supply and software
Deliverables:
• Microphone and speaker
• Software integration Applied
• Updated documentation Humanoid
Robotics

20
Work Packages – Stage 2 Motivations and Prior
Endeavors

Possible further
improvements:

• Detect bottlenecks
• Redesign parts
• Equip camera with imu
• Integrate Nvidia Jetson
• Power management/efficiency
• Optimize software components
• …

Applied
Humanoid
Robotics
Document your ideas!
Expectations Organization

 Work independently on tasks and bear responsibility for them

 Reliability -> Attend all meetings on time or notify group (not 20

minutes before!) (graded)
Communicate immediately if an issue or concern arises.

 Document your work (documentation buddies!) (graded)

 Weekly progress report in Discord (graded)

 3 presentations - to demonstrate your progress

– 17th of April=> What is my working plan (graded) Applied
– 22th of May=> What is my current status (graded) Humanoid
– 17th of July=> Final presentation (graded) Robotics
Time effort Organization

 Participation in the weekly meetings is mandatory – apart from

that you are free to arrange your working hours

 6 ECTS graded

Applied
Humanoid
Robotics
Meetings Organization

 Team-Meeting:
– Meeting with whole Team/course
– Very important in the first phase for the members to have an overview of the project
– As synchronization meeting

 Department-Meeting:
– Meeting with all members of the specific Department
– Important for the exchange between Dep. Members

 Work Package-Meeting:
– Meeting with all members of your work package
– Coordination of future work
Applied
Humanoid
Robotics
Next Tasks Organization

 Sign up for GitLab (TUHH Server)

– make yourself familiar with the version control git and with GitLab

 Download Discord

 Send your GitLab Username, Name, Student ID via Email (

hans.schlott@tuhh.de )
– You will receive an invite link to discord
– You will be registered as course attendant

 Browse through the documentation (works only from inside TU network) -

look for topics your are interested in

 Think about Work Packages Applied

Humanoid
 Setup your system (Ubuntu 22, Inventor, Discord, Git, …) Robotics
Meeting times Organization

 Weekly Meetings on Mondays in person in N 1.077 at 9:45am

– Work Package reports
1. What was achieved in prior week
2. Any problems
3. Plan for next week
4. What are the open deliverables from others?

 Weekly Personal Progress Reports in Discord to evaluate your

work by Monday 9 am
1. What was achieved in prior week
2. Any problems
Applied
3. Plan for next week Humanoid
4. What are the open deliverables from others? Robotics
Until Next Meeting on 17.04 Organization

 Read the documentation

 Decide on your personal interest and find teams
 Meet in person or via Discord and agree on a working plan
 Prepare slides for your ideas on the work packages

Applied
Humanoid
Robotics
GORE 2023 – CFEL@DESY Organization

 27.04 at DESY
 Standard Platform League
 Humanoid League
 GORE 2023

Applied
Humanoid
Robotics