BE (E&TC) HUMANOID ROBOT

A
PROJECT
ON
“HUAMNOID ROBOT”

SUBMITTED BY
Mr. Onkar R. Wable
Miss. Samina U
Patel

UNDER THE GUIDANCE

OF
PROF. Sayyad R. M

Department Of Electronics & Telecommunication Engineering

AAEMF’s College Of Engineering & Management Studies
Koregaon Bhima, Pune Maharashtra
[2023-2024]
BE (E&TC) HUMANOID ROBOT

DEPARTMENT OF ELECTRONICS & TELECOMMUNICATION ENGINEERING

CERTIFICATE
Certified that the project work entitled “HUMANOID ROBOT” carried out by Mr. Omkar R.
Wable, Miss. Samina U. Patel, bonafide students of AAEMF’s College Of Engineering, in
partial fulfillment for the award of Bachelor of Engineering in Electronics and
Telecommunication Engineering of the AAEMF’s College Of Engineering, Pune during the
year 2022-2023. It is certified that all corrections/suggestions indicated for Internal Assessment
have been incorporatedin the Report deposited in the departmental library. The project report
has been approved as it satisfies the academic requirements in respect of the Project work
prescribed for the said Degree.

Place Koregaon Bhima,

Pune Date: 25/10/2023

Prof. Sayyed R. M Dr. Shinde J. N

(Guide) (Project Coordinator)

Prof. Sayyed R. M Prof.

Head Of Department External of Project
(E&TC)
Dr. Shinde J. N
Principal
AAEMF’s College Of Engineering Koregaon Bhima, Pune
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DECLARATION
We, the students of Electronics and Telecommunication Engineering,
AAEMF’s College Of Engineering, Nande, declare that the work entitled
"HUMANOID ROBOT” has been ongoing under the guidance of Prof. Sayyed
R. M, Electronics and Telecommunication Engineering Department,
AAEMF’s College Of Engineering, Koregaon Bhima, Pune. This dissertation
work is submitted in partial fulfillment of the requirements for the award of
Degree of Bachelor of Engineering in Electronics and Telecommunication
Engineering during the academic year 2023-2024. Further the matter embodied
in the project report hasnot been submitted previously by anybody for the
award of any degree or diploma to any university.

Place: Koregaon Bhima Pune

Date: 25/10/23

Sr No By PRNNO
1 Mr. Onkar R. Wable 72206537L
2 Miss. Samina U Patel 72206532K

Under the guidance of

Prof. Sayyad R. M

Department Of Electronics & Telecommunication Engineering

AAEMF’s College Of Engineering & Management
Studies Koregaon Bhima, Pune Maharashtra
[2023-2024]
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ACKNOWLEDGEMENT

I take this opportunity to express my sincere gratitude and respect to AAEMF’s College
Of Engineering, Pune for providing me a platform to pursue my studies and carry out
my final year project. We have a great pleasure in expressing my deep sense of gratitude to
Dr.
P.K Srivastava, Principal, AAEMF’s College Of Engineering, Pune, for his constant
encouragement. We would like to thank Prof. Sayyad R. M, HOD, Department of
Electronics and Telecommunication Engineering, AAEMF’s College Of
Engineering, Pune, who has been a constant support and encouragement throughout the
course of this project. We consider it a privilege and honor to express my sincere gratitude
to my guide Prof. Sayyad R. M, Assistant Professor, Department of Electronics and
Telecommunication Engineering, for the valuable guidance throughout the tenure of this
review. We also extend my thanks to all the faculty of Electronics and Telecommunication
Engineering who directly or indirectly encouraged me. Finally, we would like to thank my
parents and friends for all the moral support they have given during the completion of this
work.

Mr. Onkar R. Wable

Miss. Samina U Patel
Date : 25/10/2023
Place: Koregaon
Bhima
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ABSTRACT

For many years, humanoid robots have been the subject of study and
development because of their ability to carry out duties in settings intended for
people. In this abstract, we demonstrate a humanoid robot that can welcome
people and move on its own.
The humanoid robot can observe and comprehend its surroundings thanks
to its sophisticated sensors and potent computing unit. It resembles a person in
appearance and communicates with others using natural language and facial
expressions. The robot's welcome system is designed to recognize people and
strike up a conversation. To start a conversation, it can make an introduction
and a few straightforward inquiries.
The humanoid robot is capable of greeting people and walking on its
own. It boasts an advanced locomotion mechanism that allows for smooth and
effective movement. Using onboard sensors with a machine learning system that
forecasts the robot's trajectory and modifies its mobility as necessary, the robot's
motion is controlled.
The humanoid robot's walking mechanism has been tested in a variety of
settings, including both level and uneven ground. The outcomes demonstrate
that the robot can effectively navigate various surroundings with a minimum of
human assistance. This makes the robot perfect for use in scenarios where
human interaction is impractical or undesirable, such as in dangerous settings or
medical settings.
In summary, the humanoid robot described in this abstract represents a
significant development in robotics. Its capacity to welcome people and stroll
freely illustrates its potential to do many activities in situations created for
humans. This humanoid robot has the potential to significantly improve human
lives in a variety of ways with future development.
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LIST OF FIGURES

Figure No. Title PageNo.

Figure 4.1 Block Diagram 16

Figure 5.1 Arduino MEGA2560 18

Figure 5.2 Description of Arduino 19

Figure 5.3 Pin Diagram of Arduino 20

Figure 5.4 Servo Motor Mg995 21

Figure 5.5 TT Gear DC Motor 22

Figure 5.6 Ultrasonic Sensor 23

Figure 5.7 Sunboard 24

Figure 5.8 MDF 25

Figure 6.1 Practical Design of Robot 36

Figure 6.2 Catia v5 Design 37

Figure 6.3 Testing Model 38

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TABLE OF CONTENT
Chapter Title Page

No. No.

CERTIFICATE
DECLARATION
ACKNOWLEDGEMEN
T ABSTRACT
LIST OF FIGURES

1. INTRODUCTION 1
Project Introduction 1
Objective 2
Problem Statement 2

2. LITERATURE SURVEY 3
Literature review 3
Laws of Humanoid Robot 4

3. SPECIFICATIONS 6

4. BLOCK DIAGRAM 8
Block Diagram 8
Block Diagram Explanation 8

5. HARDWARE & SOFTWARE DESCRIPTION 10

Hardware 10
Software 18
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1. INTRODUCTION
Project Introduction
Human work and workload increasing as services are increasing and manpower
towards it are also increasing. In early times, as workload, the workload
companies increase manpower but this traditional work creates work latency,
and human errors, and increasing the increase the project reduces manpower on
any work and almost neglects the errors and mistakes as it is programmed for
specific work. The movement of this robot is also important which makes it
portable and it the working for short distances. The father of Artificial
Intelligence, John McCarthy states the definition of AI which says that Artificial
Intelligence is the science and engineering of making intelligent machines,
especially intelligent computer programs. Artificial Intelligence (AI) is
intelligence exhibited by machines. In computer science, the field of AI defines
itself as the study of intelligent agents.
Generally, the term AI is used when a machine simulates functions that humans
associate with other human minds such as learning and problem-solving the last
few years, there has been an arrival of large a amount of software that utilizes
elements of artificial intelligence. Subfields of AI such as Machine Learning,
Natural Language Processing, Image Processing, and Data mining have become
important topics for today’s giants. Machine Learning is actively being used in
Google’s active search bar, in the Gmail spam filter, and in Netflix show
suggestions. Natural Language Processing exists in Apples Siri and Google
voice. Image Processing is necessary for Facebook’s facial recognition tagging
software and in Google’s self-driving cars. Artificial Intelligence has already
proven to be a useful new tool in today’s technology-heavy culture.

Objective
The main objective of making this project to develop a robot which can walk a
short distance and can greet to people and can guide the person about the
infrastructure. This project is also made for the reason of displaying any
advertisement and a mobile broadcasting device as well. This particularly can
be used in colleges, offices, malls, big retail shops where people might get
confused about the place, also for spreading information. This project is the
prototype of such big purpose use, while scaling this project will give these
specific outputs.

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Objectives of this project are

• To reduce the manpower on heavy work load
• Avoid human errors/mistakes while working
• Reducing time on specific work as it is used for programmed work

Problem Statement

A Humanoid Robot available in market have multiple high powered devices to

bear heavy load for which robot’s overall weight and number of increasing
components increases more maintenance and product’s overall cost. Also,
buying such costly products makes high cost maintenance of components and
for any failure that specific part gets responsible and replaced.

Solution: To avoid all these issues we decided to make this project with low cost
and high powered components and building humanoid robot with perfect
calculations and design of the structure which will be able to perform similar
tasks which a high cost robot can do. Using components of less cost makes
simpler and efficient design which requires less maintenance.
To create a humanoid robot using low-cost components, the following solution
approach can be considered:
Component Selection: Identify and select affordable components that meet the
basic requirements of the humanoid robot. This includes low-cost
microcontrollers, sensors, motors, and structural materials.
Simplified Design: Opting for a simplified design that reduces the complexity
of the robot. Instead of aiming for a fully functional humanoid robot, focus on
specific tasks or functionalities that can be accomplished within the budget
constraints.
Selecting low cost and reliable materials: Doing a market research selecting a
reliable material which can bear the weight and can be easily be cut-out, bended
or easy slotting and fitting of components in that material.

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2. LITERATURE SURVEY
Literature Review
We conducted a literature review on humanoid robots. A strong case is made on
topics involved in human–robot interaction. Having found that vision is the
most abundant perception system among humanoid robots, we included a
review of control techniques for humanoid active vision.
We provide historical insight and inform on current robotic head design and
applications. Information is chronologically organized whenever possible and
exposes trends in control techniques, mechanical design, periodical advances
and overall philosophy.
We found that there are two main types of humanoid robot heads which we
propose to classify as either non-expressive face robot heads or expressive face
robot heads.
We expose their respective characteristics and provide some ideas on design and
vision control considerations for humanoid robot heads involved in human–
robot interactions. An overview of models of human-human collaboration and
how they could be used to develop a model for human-robot collaboration is
presented. Next, the current state of human-robot interaction is reviewed and
how it fits into a model of human-robot collaboration is explored.
Augmented Reality (AR) is then reviewed and how it could be used to enhance
human-robot collaboration is discussed. Finally, a holistic architectural design
for human-robot collaboration using AR is presented. There is a vast body of
research relating to human– human communication and collaboration. It is clear
that people use speech, gesture, gaze and non-verbal cues to communicate in the
clearest possible fashion.
In many cases, face-to-face collaboration is also enhanced by, or relies on, real
objects or parts of the user’s real environment. This section briefly reviews the
roles conversational cues and real objects play in face-to-face human-human
collaboration.
This information is used to provide guidelines for attributes that robots should
have to effectively support human-robot collaboration.
In the field of unmanned vehicle (UV) systems, researchers have been striving
to inverse the human-robot ratio such that one operator can control multiple
robots. This goal has not yet been accomplished for military applications,
despite ongoing research.
Research suggests that the human-robot interaction (HRI) that takes place while
an operator is in control of one or more UVs needs to be improved before the
ratio can be inversed.
This literature review included 53 references to provide an overview of current

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HRI research dealing with the operation of UVs and to identify the key human
factors (HF) issues when conducting research within this area.
The literature identified three key factors in HRI research related to operating
UVs for military applications: operator capacity (that is, the number and type of
UVs that a human operator controls or supervises), automation, and interface
design. Within the literature HRI is most often measured through the three
common metrics of situation awareness (SA), workload, and task performance.
In general, research shows that increasing operator capacity increases workload
and decreases SA, while the corresponding impact on performance has been
shown to be inconsistent.
Automation and multimodal interfaces have been shown to alleviate some of the
increased workload and decreased SA as operator capacity is increased,
however, there is a complex interaction between the three variables. The
literature suggests that adaptive automation and adaptive interfaces are
promising solutions to accommodate for this complex interaction, but further
research and empirical studies are necessary before they can be implemented
into military operations.
Three additional characteristics of military applications also need to be
investigated further: one operator in control of mixed UV platforms (i.e. UAVs
and UGVs), operators controlling UVs in a mobile environment, and team
coordination between multiple operators each in control of multiple UAVs.
To help further research in this area, the new Human-Robot Interaction
laboratory being built at DRDC—Toronto should consider investigating HF
issues in the design of a multimodal adaptive interface for mixed UV military
operations. In particular, due to gaps in the literature and the need for more
detailed research in certain areas, studies should look at the interactions between
operator capacity, adaptive automation, automation reliability, adaptive
interfaces, mobile environments, and team coordination

Laws of Humanoid Robot

Zeroth Law: - ―A Robot must not injure humanity although in action,

allow humanity come to harm‖.

First Law: - ―A Robot must not harm a human body although in action, allow
one to come to harm‖,

Second Law: - ―A Robot must always obey human being, unless it is in

conflict with a higher order law‖.

Third Law: - ―A Robot must protect itself from harm unless that it is conflict

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with a higher order law‖

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Industrial robots are being used in many manufacturing plants all over the
world. This Product class has reached a high level of maturity and a broad
variety of robots for special Applications is available from different
manufacturers.
Even though both kind of robots, industrial and humanoid, manipulate objects
and the same types of components, e.g. harmonic drive gears, can be found in
both types, the target systems differ significantly.
Industrial robots operate in secluded environments strictly separated from
humans. They perform a limited number of clearly defined repetitive tasks.
These machines and the tools they use are often designed for a special purpose.
High accuracy, high payload, high velocities and stiffness are typical
development goals.

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3. SPECIFICATIONS

ARDUINO ATMEGA2560

 Microcontroller: ATmega2560
 Architecture: 8-bit AVR
 Operating Voltage: 5V
 CPU Speed: 16 MHz
 Flash Memory: 256 KB (of which 8 KB is used by the bootloader)
 SRAM: 8 KB
 EEPROM: 4 KB
 Digital I/O Pins: 54 (of which 15 provide PWM output)
 Analog Input Pins: 16
 UARTs: 4
 SPI Ports: 1
 I2C Ports: 1
 USB Interface: 1
 ADC Resolution: 10-bit
 PWM Channels: 15
 External Interrupts: 8
 Timer/Counters: 6 (16-bit)
 Operating Temperature: -40°C to +85°C
 Package Type: TQFP
 Package Pins: 100

SERVO MOTOR Mg995

 Model: MG995
 Operating Voltage: 4.8V - 7.2V
 Stall Torque: 9.4 kg-cm (4.8V), 11 kg-cm (6V), 13 kg-cm (7.2V)
 Speed: 0.17 sec/60° (4.8V), 0.14 sec/60° (6V), 0.12 sec/60° (7.2V)
 Operating Angle: 180°
 Gear Type: Metal gears
 Control System: Analog
 Motor Type: DC motor
 Connector Type: JR/Futaba-style
 Dimensions: 40.7 mm x 19.7 mm x 42.9 mm
 Weight: 55 grams
 Operating Temperature: 0°C to 55°C
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ULTRASONIC SENSOR

 Model: MG995
 Operating Voltage: 4.8V - 7.2V
 Stall Torque: 9.4 kg-cm (at 4.8V), 11 kg-cm (at 6V), 13 kg-cm (at 7.2V)
 Operating Speed: 0.17 sec/60° (at 4.8V), 0.14 sec/60° (at 6V), 0.12
sec/60° (at 7.2V)
 Control System: Analog
 Motor Type: DC Motor
 Gear Type: Metal
 Rotation: 180°
 Connector Type: 3-pin (Signal, Vcc, GND)
 Dimensions: 40.7mm x 19.7mm x 42.9mm
 Weight: 55g
 Operating Temperature: -10°C to +50°C
 Operating Angle: 180°
 Servo Plug Type: JR (Fits Futaba)
 Servo Horn Spline Count: 25

TT GEAR DC MOTOR

 Operating Voltage: 3V - 6V
 Motor Type: DC Motor
 Gearbox Type: Dual Shaft Geared TT Magnetic Gearbox
 Gear Ratio: Variable, depending on the specific motor model
 Shaft Type: Dual Shaft (Two output shafts)
 Motor Speed: Varies depending on the specific motor model and voltage
applied
 Operating Current: Varies depending on the specific motor model and
load conditions
 Operating Temperature: Varies depending on the specific motor model
 Dimensions: Varies depending on the specific motor model
 Weight: Varies depending on the specific motor model
 Control: Can be controlled using a motor driver or directly with a
suitable voltage supply
 Applications: Robotics, DIY projects, automation systems, electronic
devices, etc

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4. BLOCK DIAGRAM
4.1 BLOCK DIAGRAM

Block diagram of components working

BLOCK DIAGRAM EXPLAINATION

A Humanoid Robot has the basic parts like arm, servo motor,
controller(Arduino Mega 2560),breadboard and power supply etc.
These subsystems communicate among themselves via interface
(Arduino Mega2560), whose function consists basically of
decoding the transmitted information from one medium to another.
The block diagram representation is of a typical robotic mechanical
system made of Sunboard/MDF material.
The input is a prescribed task as programmed, which is defined
earlier. The output of a robotic mechanical system is the actual
task. These motors work as per the program and power supply
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more than

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the threshold level, while the controller observes the by default

feedback signals.
This is compared with the predefined task given to the controller.
The errors between the prescribed and the actual task are then fed
back into the controller, which then synthesizes the necessary
corrective signals.
These are in turn fed back to the servo motors, which then drive the
mechanical system through the required task. Thus, the given task
is performed by the robot.

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5. HARDWARE & SOFTWARE DESCRIPTION

HARDWARE

1. Arduino Mega2560
The Arduino Mega 2560 is a microcontroller board based on the ATmega2560
microcontroller. It is designed for advanced users who need more I/O pins,
memory, and processing power than the standard Arduino boards provide.
Microcontroller: The Arduino Mega 2560 is based on the ATmega2560
microcontroller, which has 256 KB of flash memory, 8 KB of SRAM, and 4 KB
of EEPROM
Operating Voltage: The board can be powered with a 5V DC power supply or a
7-12V DC power supply through the barrel jack.

Fig 5.1

I/O Pins: The board has 54 digital input/output pins, with 15 of them capable of
PWM output. It also has 16 analog inputs and 4 UARTs (hardware serial ports).
Clock Speed: The ATmega2560 microcontroller runs at 16 MHz.
Memory: The board has 256 KB of flash memory for storing code, 8 KB of
SRAM for storing variables, and 4 KB of EEPROM for storing non-volatile
data. Communication: The board has a USB connection for programming and
communication with a computer. It also has a 16 MHz crystal oscillator and a
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reset button.

Dimensions: The board measures 101.52 mm x 53.3 mm x 15.5 mm.

Operating Temperature: The board can operate in temperatures ranging from
- 40°C to +85°C.
Compatibility: The Arduino Mega 2560 is compatible with most Arduino shields,
as well as with the Arduino software and programming language.

Fig 5.2

Power Consumption: The board consumes approximately 50 mA of current

when idle, and up to 250 mA when running intensive tasks.
Digital Pins (0-53): These pins can be used for both digital input and output.
They are labeled as D0-D53 on the board. Pins D0 and D1 are also used for
serial communication with a computer.
PWM Pins (2-13, 44-46): These pins are capable of pulse-width modulation
(PWM), which allows you to control the intensity of an LED or the speed of a
motor. They are labeled as ~2-~13 and ~44-~46 on the board.
Interrupt Pins (2, 3, 18, 19, 20, 21): These pins can be used to trigger an
interrupt in the microcontroller. They are labeled as INT0, INT1, INT2, INT3,
INT4, and INT5 on the board.
Analog Input Pins (0-15): These pins can be used for analog input, and can also
be used as digital input/output pins. They are labeled as A0-A15 on the board

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Fig 5.3

TWI Pins (20-21): These pins are used for I2C communication with other
devices. They are labeled as SDA and SCL on the board.
SPI Pins (50-53): These pins are used for SPI communication with other devices.
They are labeled as MISO, MOSI, SCK, and SS on the board.
Serial Pins (0-1): These pins are used for serial communication with a
computer or other serial device. They are labeled as RX0 and TX0 on the
board.
Power Pins: The board has several power pins, including 5V, 3.3V, GND, and
VIN.
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Other Pins: The board also has several other pins with specific functions, such
as

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the reset pin, the ICSP header for programming, and the JTAG header for
debugging.

2. Servo Motor

The MG995 servo motor is a popular type of servo motor used in many
hobbyist and DIY projects. Here's a hardware description of the MG995 servo
motor:

Fig 5.4

DC Motor: The MG995 servo motor is a DC motor with a gear train and
feedback potentiometer. The motor can rotate up to 180 degrees in either
direction and can generate up to 12 kg-cm of torque.
Gear Train: The gear train is used to reduce the speed of the motor and increase
the torque output. The MG995 has a metal gear train, which makes it more
durable and less likely to strip gears than plastic gear trains.
Feedback Potentiometer: The feedback potentiometer is used to provide
position feedback to the control circuitry. The potentiometer is connected to the
output shaft of the motor and provides an analog signal proportional to the
position of the shaft.
Control Circuitry: The control circuitry of the MG995 servo motor includes a
motor driver, a microcontroller, and a feedback loop. The microcontroller
receives a position command from the user and sends a PWM signal to the
motor driver. The feedback loop monitors the output of the potentiometer and
adjusts the PWM signal to maintain the desired position.

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Power Supply: The MG995 servo motor requires a DC power supply of 4.8V to
7.2V. The power supply should be able to provide enough current to drive the
motor and the control circuitry.
Connectors: The MG995 servo motor has three wires for power, ground, and
control. The control wire is usually a white or yellow wire and is used to send
the PWM signal to the motor drive.

3. TT Gear

A TT gear motor, also known as a TT motor or TT gearbox motor, is a type of

electric motor that incorporates a built-in gearbox. It is commonly used in
various robotic applications, small vehicles, and other projects that require
precise control and torque output.
Gearbox: TT gear motors are equipped with a gearbox that helps to increase
torque output and reduce the motor's speed. The gearbox consists of a series of
gears that provide gear reduction, allowing the motor to generate higher torque
while decreasing the rotational speed of the output shaft.
Size and form factor: TT gear motors are typically compact and come in
standardized sizes. They are designed to be easily integrated into robotic
systems or small-scale projects where space is limited.

Fig 5.5

DC motor: Most TT gear motors use a DC (direct current) motor as the driving
mechanism. DC motors offer good control, efficiency, and speed regulation,
making them suitable for various applications.
Voltage and speed options: TT gear motors are available in different voltage

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ratings and speed options. The voltage rating determines the power supply
required for the motor, while the speed specification refers to the rotational
speed of the output shaft.
Torque and gear ratio: The torque output of a TT gear motor depends on the
gear ratio of the gearbox. Gear ratios can vary, allowing users to select motors
with different torque characteristics based on their project requirements.
Mounting options: TT gear motors often come with mounting holes or brackets
for easy installation. This simplifies the process of attaching the motor to a
frame, chassis, or other structural components.
Control and compatibility: TT gear motors can be controlled using motor
drivers or microcontrollers to regulate speed and direction. They are compatible
with various control systems and can be integrated into different electronic
circuits.

4. Ultrasonic Sensor

An ultrasonic sensor is a device that uses sound waves with frequencies above
the range of human hearing to detect objects and measure distances. It typically
consists of a transducer that emits high-frequency sound waves and a receiver
that detects the waves after they bounce off objects in their path.The sensor
emitsa burst of ultrasonic sound waves.
The sound waves travel through the air and bounce off objects in their
path. The receiver in the sensor detects the reflected sound waves.
By measuring the time it takes for the sound waves to travel to the object and
back, the sensor can calculate the distance to the object using the speed of sound
in air.

Fig 5.6

Ultrasonic sensors are commonly used in various applications, including:

Distance measurement: Ultrasonic sensors are frequently used to measure the
distance between the sensor and an object. This can be useful in robotics,
industrial automation, parking sensors, and security systems.
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Proximity detection: These sensors can detect the presence or absence of an

object within a certain range. They are often used in automated doors, obstacle
detection systems, and robotics.
Level sensing: Ultrasonic sensors can be used to measure the level of liquids in
tanks or containers.
Object detection: These sensors can detect the presence or absence of objects
within their range. They are utilized in applications such as counting objects on
a conveyor belt, presence detection in automated systems.

5. Sunboard Sheet

Sunboard, also known as foam board, is a lightweight and durable material

commonly used in art and craft projects, as well as for signage and advertising
displays. Sunboard sheets are made of a foam core with a paper or plastic facing
on both sides. The foam core is usually made of polystyrene or polyurethane
foam. Sunboard sheets are available in a range of thicknesses, typically from 1
mm to 10 mm. thicker sheets may be available for specialized applications.

Fig 5.7
Sunboard sheets come in a variety of sizes, with standard sizes ranging from 20
cm x 30 cm to 120 cm x 240 cm. Custom sizes may be available upon request.
Sunboard sheets are lightweight, typically weighing between 100 GSM to 2000
GSM, depending on the thickness and size. Sunboard sheets are available in a
variety of colors, including white, black, and a range of other colors. Sunboard
sheets can have a variety of surface finishes, including matte, glossy,
andtextured. The surface finish may affect the material's appearance and
durability. Sunboard sheets are easy to cut and shape using standard tools, such
as a utility knife or saw. They can also be painted, printed on, or laminated for
added durability.

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6. Medium Density Fiberboard (MDF)

MDF stands for Medium-Density Fiberboard. It is an engineered wood product

that is commonly used in the construction and furniture industries. MDF is
made by breaking down hardwood or softwood residuals into wood fibers,
combining them with a resin binder and wax, and forming panels by applying
high temperature and pressure.Density of MDF has a relatively high density
compared to other types of engineered wood products. It falls between
plywood and particleboard in terms of density.Smooth surface of MDF has a
smooth and uniform surface, which makes it suitable for painting, veneering, or
laminating to achieve different finishes. Versatility of MDF can be easily cut,
drilled, and shaped using common woodworking tools. It is popular for making
furniture, cabinets, shelving, and decorative moldings.

Fig 5.8
Stability of MDF is less prone to warping or expanding/contracting with
changes in temperature and humidity compared to solid wood. Cost-effective of
MDF is generally more affordable than solid wood products, making it a
popular choice for projects with budget constraints. Indoor applications of
MDF is primarily used for indoor applications, including furniture, cabinetry,
wall paneling, flooring underlayment, and decorative element

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SOFTWARE

Dassault System created the computer-aided design (CAD) software CATIA

V5. To generate 3D models, drawings, and simulations, it is widely used in the
aerospace, automotive, and industrial design sectors. CATIA V5's main
characteristics include: powerful tools for generating complicated forms and
structures on surfaces and in solids
Tools for developing and maintaining large-scale assemblies include assembly
design and management. tools for testing and verifying designs using simulation
and analysis tools for 2D drafting and developing comprehensive engineering
plans tools for organizing design data and engaging with team members include
product data management (PDM).

ADRUINO IDE: An open-source programme called Arduino IDE (Integrated

Development Environment) is used to create and upload code to Arduino
microcontroller boards. It offers an intuitive user interface and a collection of
libraries that make it simple for users to programme their Arduino boards.
The Arduino IDE features a serial monitor to aid with programme debugging
and to track data transmitted between the Arduino board and computer. It
supports a number of programming languages, including C and C++.

SolidWorks: is a 3D computer-aided design (CAD) software developed by

Dassault Systèmes. SolidWorks is known for its user-friendly interface,
extensive community support, and a large ecosystem of add-on applications
and plugins. It is widely used by engineers and designers worldwide for
creating and optimizing their product designs. Main Features of solidwork are
3D Modeling, Assembly Design, Drafting and Documentation, Simulation and
Analysis, Rendering and Visualization, Collaboration and, Documentation
Management, Integration with Manufacturing.

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PROGRAM

#include
<Servo.h> char val
= '0';
int stop_flag = 3, flag = 70, lp1 = 100, lp2 = 115, lp22 = 95, lp3 = 76, lp33 = 90
, lp4 = 80;
int rp1 = 90, rp2 = 115, rp22 = 90, rp33 = 90;
int rp3 = 60, rp4 = 150, cp = 84, lhp = 90, rhp = 90;
Servo L1, L2, L22, L3, L33, L4, R1, R2, R22, R3, R33, R4, C, LH, RH;

void setup()
{
L1.attach(2);
L2.attach(3);
L3.attach(4);
L4.attach(5);
R1.attach(6);
R2.attach(7);
R3.attach(8);
R4.attach(10);
L22.attach(22);
L33.attach(23);
R22.attach(24);
R33.attach(25);
C.attach(28);
LH.attach(26);
RH.attach(27);
Serial.begin(9600);
Serial.println("Ready")
;
}
void loop()
{
initiate();
command()
;
}
void initiate()
{
L1.write(lp1);
L2.write(lp2);
L3.write(lp3);
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L4.write(lp4);
R1.write(rp1)
;

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R2.write(rp2);
R3.write(rp3);
R4.write(rp4);
L22.write(lp22);
L33.write(lp33);
R22.write(rp22)
;
R33.write(rp33)
; C.write(cp);
LH.write(lhp);
RH.write(rhp);
flag = 0;
delay(2500);
}
void command()
{
if (Serial.available() > 0)
{
val = {
Serial.read(
)
};
}
if (val == '0')
{
walk();
Serial.write("check")
;
}
if (val == '1')
{
stand();
}
if (val == '2')
{
leftt();
}
if (val == '3')
{
rightt();
}
}
void walk()
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{
while (val == '0')
{

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if (flag ==
0) ini();
if (flag == 1)
{
//
C.write(94);
left();
//command();
}
if (flag == 2)
{
//
C.write(76);
right();
//command();
}
}
}
void ini()
{
L2.write(105);
L3.write(64);
R2.write(125);
R3.write(72);
L22.write(105)
;
L33.write(102)
;
R22.write(80);
R33.write(78);
flag = 1;
rp2=125;
rp3=72;
rp22=80;
rp33=78;
Serial.println("Ini");
}
void left()
{
while (flag == 1) //Left Leg
{
if (rp1 < 110)
{
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rp1 = rp1 + 2;
R1.write(rp1)
;
//Serial.println(rp1);
}

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if (lp2 > 95)

{
lp2--;
L2.write(lp2)
;
//Serial.println(lp2);
}
if (lp3 > 54)
{
lp3--;
L3.write(lp3)
;
//Serial.println(lp3);
}
if (lp22 < 115)
{
lp22++;
L22.write(lp22);
//Serial.println(lp22);
}
if (lp33 < 112)
{
lp33++;
L33.write(lp33);
//Serial.println(lp33);
}

LH.write(110);
RH.write(140)
;

if (rp2 > 115)

{
rp2--;
R2.write(rp2);
//Serial.println(rp2);
}
if (rp3 > 62)
{
rp3--;
R3.write(rp3)
;
//Serial.println(rp3);
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}
if (rp22 < 90)
{
rp22++;

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R22.write(rp22);
//Serial.println(rp22);
}
if (rp33 < 88)
{
rp33++;
R33.write(rp33);
//Serial.println(rp33);
}
//Serial.println(++count);
if (lp2 == 95 && lp3 == 54 && rp1 == 110 && rp2 == 115 && rp3 == 62
&& lp22 == 115 && lp33 == 112 && rp22 == 90 && rp33 == 88)
{
//Serial.write("Check");
//for (cp; cp < 84; cp++)
//{
// C.write(cp);
//delay(30);
//}
for (rp1; rp1 > 90; rp1--)
{
R1.write(rp1)
; delay(30);
}
Serial.println("Left_Leg")
; flag++;
stop_flag =
0;
delay(120);
}
delay(25);
}
}
void right()
{
while (flag == 2) //Right leg
{
if (lp1 > 74)
{
lp1 = lp1 - 2;
L1.write(lp1)
;
}
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if (lp2 < 115)

{

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lp2++;
L2.write(lp2)
;
}
if (lp3 < 74)
{
lp3++;
L3.write(lp3)
;
}
if (lp22 > 95)
{
lp22--;
L22.write(lp22);
}
if (lp33 > 92)
{
lp33--;
L33.write(lp33);
}

LH.write(50);
RH.write(70);

if (rp2 < 135)

{
rp2++;
R2.write(rp2)
;
}
if (rp3 < 82)
{
rp3++;
R3.write(rp3)
;
}
if (rp33 > 68)
{
rp33--;
R33.write(rp33);
}
if (rp22 > 70)
{
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rp22--;
R22.write(rp22);
}
if (lp1 == 74 && lp2 == 115 && lp3 == 74 && rp3 == 82 && rp2 == 135

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&& lp22 == 95 && lp33 == 92 && rp33 == 68 && rp22 == 70)

{
//for (cp; cp < 84; cp++)
//{
// C.write(cp);
// delay(30);
//}
for (lp1; lp1 < 100;)
{
lp1++;
L1.write(lp1)
; delay(30);
}
Serial.println("Right_Leg")
; flag = 1;
stop_flag =
1;
delay(120);
}
delay(25);
}
}
void stand()
{
while (stop_flag == 0)
{
if (lp2 > 94)
{
lp2--;
L2.write(lp2)
;
}
if (lp3 > 52)
{
lp3--;
L3.write(lp3)
;
}
if (lp2 == 94 && lp3 == 52)
{
for (rp1; rp1 < 100; rp1++)
{

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R1.write(rp1)
; delay(12);
}
flag = 70;

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stop_flag = 2;
Serial.println("STOP")
;
}
delay(25);
}
while (stop_flag == 1)
{
if (rp2 > 130)
{
rp2--;
R2.write(rp2)
;
}
if (rp3 < 80)
{
rp3++;
R3.write(rp3)
;
}
if (rp2 == 130 && rp3 == 80)
{
for (lp1; lp1 > 110; lp2--)
{
L1.write(lp1)
; delay(12);
}
flag = 70;
stop_flag = 2;
Serial.println("STOP")
;
}
delay(25);
}
if (Serial.available() > 0)
{
val = {
Serial.read(
)
};
}
command();
}
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void leftt()
{
left();
val = 1;
command();

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}
void rightt()
{
right();
val = 1;
command();
}

PROGRAM EXPLAINATION
The Servo library is used in this Arduino programme to control many servos
attached to an Arduino board. To operate the servos and carry out particular
tasks like walking, standing, turning left, and turning right, the programme
provides a variety of functions.

The programme receives instructions from the serial monitor and stores them in
the char variable val. The walk() function, which instructs the servos to move in
a walking motion, is called when the character 0 is received by the computer.
Upon receiving the character 1, the programme enters the stand() function,
which causes all servo angles to be set to a neutral position, effectively causing
the robot to stand still.

The leftt() function, which rotates the robot to the left by manipulating the
servos on the right side, is called whenthe character 2 is received by the
computer. To move the robot to the right by operating the servos on the left side,
the programme enters the rightt() method when the character 3 is received.

To set the initial position of all the servos, the initiate() method is used at the
beginning of the loop() procedure.The command() method detects incoming
serial commands and invokes the proper function based on the command
received.The servos' angles are controlled by the ini(), left(), and right() routines
to carry out specified tasks.

These routines examine each servo's current angle and make any required
adjustments using a variety of if statements. For instance, to turn the robot to the
left, the right-side servos' angles are changed with the left() method.

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6. RESULTS

PROJECT VIEW

Fig 6.1 Practical Design of Robot

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PROJECT VIEW

Fig 6.2 Catia v5 Design

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PROJECT VIEW

Fig 6.3 Testing Mode

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7. ADVANTAGES, LIMITATIONS
& APPLICATIONS
ADVANTAGES
• Increases productivity
• Increases Efficiency
• Increases Quality
• Increases consistency of products
• Unlike humans, robots don’t get bored
• Until they wear out, they can do the same thing again and again
• They can be very accurate
• Robots can work in environments which are unsafe for humans
• Robots don’t have the same environmental requirements that humans do
• Robots have some sensors/servo motors which are more capable than
humans

LIMITATION

Cost: The process of creating a humanoid robot is difficult and expensive. A

humanoid robot's ability to be widely adopted is still constrained by the high
cost of the components, materials, and advanced technologies employed in its
construction.

Mobility: Despite tremendous progress in robot mobility, humanoid robots still

struggle to navigate stairs and uneven ground, which restricts their employment
in a variety of contexts.

Electricity and Energy: Humanoid robots need a lot of electricity and energy
to operate, which might be difficult when there is no power source nearby.
Humanoid robots still have a short battery life and frequently need to be
recharged.

Safety: As humanoid robots become more sophisticated and are used in a

variety of contexts, it is critical to ensure their safety. In order to prevent
mishaps and maintain the safety of the robot's operators, safety precautions must
be designed for robots with sophisticated artificial intelligence and autonomy.

Ethical issues: As humanoid robots resemble people more and engage in

greater human interaction, ethical issues start to appear. It raises concerns about
the autonomy, privacy, and likelihood of human labour being replaced by robots
in some areas, which would result in job losses.
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APPLICATIONS

• Research and space exploration

• Personal assistance and caregiving
• Education and entertainment
• Search and rescue
• Manufacturing and maintenance
• Public relations
• Healthcare

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8. CONCLUSION

 In conclusion, humanoid robots have long piqued our interest, and recent
developments in robotics technology have led to their becoming smarter
and more competent.
 Humanoid robots are capable of a wide range of functions, from
elementary ones like picking up things and walking to more difficult ones
like playing musical instruments or helping with medical operations.
 To build devices that can interact with people more naturally and
successfully, humanoid robots have been developed.
 Humanoid robots can be employed in a number of settings, such as
education, entertainment, and industry, by replicating human movements
and behaviours.
 The development of humanoid robots still faces a number of difficulties,
including boosting their balance and stability, improving their sensing
and perception abilities, and making them more energy-efficient.
 However, the quick advancements in robotics technology are enabling
scientists and engineers to get past these obstacles and build ever-more
sophisticated humanoid robots.
 In general, research into humanoid robots is an interesting and promising
area with the potential to completely change how humans interact with
both technology and one another.
 For those with an interest in robotics, artificial intelligence, or human-
machine interaction, they therefore offer a crucial field of research.

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9. FUTURE WORK

I. Aviation Industry: By 2026, we will have crewless aerial vehicles in

both commercial and military sectors

II. Medical Industry: Recent scenarios like the COVID-19 pandemic have
shaken the industry in ways we never imagined. Technology experts have
said that we will have humanoids in hospitals as nurses and doctors, who
will take care of patients in hazardous situations in the future. Also, due
to higher efficiency, it will ensure to check more patients at one time.

III. Agriculture: With the increase in population, agriculture needs to be

robust and efficient. It is said that soon, humanoids will help in milking,
farming, etc.

IV. Transportation: We already have vehicles that don't need any drivers to
drive around. Soon, we will have humanoids deployed in cab services,
freight shipment, etc.

V. Military sector: Humanoids will soon be deployed to work in harsh

places that are difficult to be accessed by human soldiers. Also, these
humanoids will help in accessing challenging situations accurately, which
will help to strategize plans accordingly.

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REFERENCES
1. Use of humanoid robot in children with cerebral palsy:
the ups and downs in clinical experience. Procedia Comp
Rahman RAA, Akhtar HF (2015)
2. "Robovie: an interactive humanoid robot", Industrial
Robot, Vol. 28 No. 6, Ono, T., Imai, M., Maeda,T.,
Kanda, T. and Nakatsu, R. (2001).

3. Development of a psychological scale for general

impressions of humanoid. Adv Robotics Kamide H,
Kawabe K, Shigemi S, Arai T (2013)

4. Humanoid Robot HRP-3 Kenji KANEKO, Kensuke

HARADA, Fumio KANEHIRO, Go MIYAMORI, and
Kazuhiko AKACHI.

5. Humanoid robots: a new kind of tool B. Adams; C.

Breazeal; R.A. Brooks; B. Scassellati

6. HUMAN–HUMANOID INTERACTION: IS
A HUMANOID ROBOT PERCEIVED AS A HUMAN?