STUDENT’S ON-THE-JOB TRAINING

DAILY REPORT OF ACTIVITIES

Name of Trainee: _DOCOT, MARK ERICKSON V. Company: MAPUA UNIVERSITY

Class Schedule: Monday to Friday | 8am – 5pm Professor: Engr. Edward Ang

Note: The trainee should give a brief but clear report on the task performed, its purpose and how it is
accomplished. Also, indicate the machines, equipment, tools, and materials used, if any. Practice Safety.

Date: March 7, 2022 For this week's Asynchronous Online Seminar, I watched the videos
Time In: 8am regarding the robot design by Engr. Edward Ang. It is mentioned that by
Time Out: 5pm
the end of this seminar, it will be explained what humanoid robots are and
Hour Spent: 8 hours
what they can do, the role and development of robotics in education, robot
Certified Correct by: competition in Asia, describing the hardware parts in making a robot,
knowing the mathematical, algorithmic, and control principles of a robot
Engr. Edward Ang through physical construction and software development to implement
Supervisor/Trainer
movement, and demonstrating the basic movement of a robot.

Figure 1. Introduction of Robot Design Seminar

In today's modern world, robots must do risky, repetitive, and high-

precision tasks. We all know that people, unlike programmed machines,
may make many mistakes while working. Furthermore, robots can work in
harsh conditions that people cannot. Humanoid robots are frequently
assumed to appear and act exactly like humans; however, this is not always
the case. A humanoid robot resembles a person and any robot that has a
humanoid appearance. These robots are designed to have a human-like
structure. The current technology-based civilization would

not be possible without the use of robots. I also discovered what a

humanoid robot is. Humanoids have human-like shapes, including two
hands and two legs (commonly referred to as "BIPED").

Furthermore, humanoids can use human-designed technology and move

around in human-designed situations. In summary, humanoid robots are
designed to live, adapt, and integrate into human environments. Robotics,
like other engineering-related topics, is critical in the classroom. Although
it is difficult to grasp, robotics may be a lifelong friend and greatly simplifies
a complex technology.

Figure 2. Why robotics in education?

Furthermore, robotics interfaces with physical devices such as the Internet

of Things, and when it comes to developing a robot, you should do it
yourself to establish how to accomplish it. Robotics may also provide
transdisciplinary knowledge, which requires the integration of varied
applications such as mechanical, electrical, and computer programming.
The purpose of robotics is to instill a winning mindset and collaboration in
young people to increase their motivation to participate in technology and
provide skills for future employment. Robots, like other engineering-
related courses, are essential in education. Old robots vs. new robots,
today, robots have what we call open-source, which means that anybody
may use the robots. In other words, robots are becoming more user-
friendly. Furthermore, today's robots are getting more affordable while
sporting powerful CPUs, intelligent sensors, and actuators, etc.

Source:

ROBOT DESIGN. (2020, June 5). YouTube.

https://www.youtube.com/watch?v=H2ei-DAS8ao
Date: March 8, 2022 For today's report, the topic that Engr. Edward Ang's discussion is about
Time In: 8am the robot competition in Asia, and the first sub-topic is about robot
Time Out: 5pm
fighting. Various robot tournaments are depicted in the video. For a start,
Hour Spent: 8 hours
there is robot fighting, a battle in which robots beat down or push
Certified Correct by: opponents out of the arena. Robot fighting's goal is to develop the
different motions of the robots involved in a battle; as a result, to win, the
Engr. Edward Ang robot must be faster, more flexible, lighter, and have more moves. Robot
Supervisor/Trainer
combat should never be portrayed as a nasty sport but rather as a means
of putting new motions or actions to the test.

Figure 3. Robot Competition in Asia

Second, there's robot football, which is fun to play automated or remote-

controlled games. Robot football is a human-guided walking activity in
which robots are designed to play football and walk without stumbling. The
engineer must program the robot to learn how to move and kick the ball
while controlling and dispersing its weight from top to bottom. Finally,
there's the game of running, in which a robot races another robot and then
must go ahead. This robot competition is considerably more difficult since
the robots must strike the perfect mix of speed and balance. There are
many four-legged robot demos, but this competition is more difficult for
"biped" or two-legged robots. However, that was previously because it is
now easier to design a robot that can move faster, and shortly, it may be
faster than humans.

A survival attack (Rumble) is also available. All robots, regardless of size,

are positioned on a squared platform and attempt to force one another off,
with the last robot standing, winning. Rumble relies on the robot's balance,
mobility, teamwork, speed, and flexibility, as well as the battery's power.
The robots will last longer and will not be defeated in this competition if
they have greater power.
 Figure 4. Survival Attack (Rumble)

An example of a robot competition is in Hongkong, the Robot Boxing

League (RBL). In Taiwan, the RBL was created in 2014. RBL's regulations
differ significantly from those of Korea IRC and Robo-One, in that RBL
allows for side and sitting attacks, and if a robot is knocked out five times, it
is automatically knocked out. The Hong Kong RBL features robots from
Taiwan, Hong Kong, and Macau, small to medium-sized "Biped Humanoid
Robots," with a handful utilizing high-torque PWM metal servo motors.
Second, the Korea International Robot Contest (IRC) is usually held at
KINTEX in Gyeonggi Province. The robot above competition attracts both
foreigners and Koreans. This competition aims to promote innovative
humanoid robot exchange and integration in countries including the United
States, Japan, China, and South Korea. Finally, there is Japan's Robo-One
Competition. This is a bipedal walking robot fighting competition. The
procedures are like those used in human combat arts, which means three
knockdowns in the first three minutes. This robot competition aims to
encourage participants to improve their robotics skills. As a result, rather
than focusing on winning or losing a game, the emphasis is placed on the
entertainment factor and intellectual elegance. Furthermore, this
competition is designed to promote robot innovation's long-term
emergence and growth while also providing as much technical knowledge
as possible.

Source:

ROBOT DESIGN. (2020, June 5). YouTube.

https://www.youtube.com/watch?v=H2ei-DAS8ao
Date: March 9, 2022 So, for the third day of this week's OJT, the most exciting part of this
Time In: 8am seminar, as said by Engr. Edward Ang is the discussion about ASIMO. So,
Time Out: 5pm
ASIMO is a humanoid robot created in 2000 by Honda corporation. ASIMO
Hour Spent: 8 hours
stands for Advanced Step in Innovative Mobility. Also, Pepper is currently
Certified Correct by: being developed as a helping emotional robot that can accommodate
human emotion. This Japanese Robot is currently a customer-service
Engr. Edward Ang officer, and it may one day become a professor. Still, for now, it amuses
Supervisor/Trainer
consumers whenever they buy something at a substantial Japanese store
like Uniqlo, Softbank, hotels, and other consumer-based firms with a high
customer-service requirement. Also, I wanted to add that Japan is known
for its knowledge using AI (artificial intelligence) or Robots in commercial
businesses like restaurants.

Figure 5. Who is ASIMO?

In addition, Engr. Edward Ang designed a few robots that robots will show
at the seminar. Some of such robots were employed in a tournament, but
they, unfortunately, did not win.
 Figure 6. Robots Created by Engr. Edward Ang

For the following part, Engr. Edward Ang discusses the different robot
modules. The first section contains the following modules: (1) Hand
module, (2) Chest module, (3) Hip module, (4) Pelvis module, (5) Knee
module, and (6) Foot module, which are all employed in the building of a
robot. These are just a handful of the modules that must be understood to
design, assemble, and apply strength to a robot's motion (changing
vibration or oscillation). Professor Chi also taught us about the ROBOTIS
design plan. The plan is used to create robots with only servo motor signals
as numbers. When it comes to planning, the structural design of the Robot
must come first, followed by an effective and productive arrangement of
the numerous servo motors.

Figure 7. Planning on Creating Humanoid Robot

The initial phase of the strategy for building a robot is the wiring and how
the battery or electricity into the board is provided. In this circumstance,
the maximum ampere and voltage that such a battery can handle must be
determined so that the board does not burn or become damaged. It is
critical to understand which sensors are compatible with it in terms of
voltage, amperes, and signals that pass through the microcontroller. The
motor shield allows the CPU to communicate with various motors,
including DC motors, stepper motors, and servomotors. The simplification
of the motor shields to a central controller is depicted in the figure in the
upper right corner. A "daisy chain" link implies that one motor is connected
to motor two, then to motor three - one standard wire for three servo
motors.

A wireless controller, an IR receiver, wireless communication, ZigBee

distance measurement sensor, cable holder, gyro sensor, Li-Po battery,
exclusive servo module, and central controller make up the Robot. Lego
Mindstorm is simple to use since the various bricks, and the functionality of
those blocks are placed, and the Robot is then ready to use. The Arduino
Make Block Program, an example of block programming appropriate for
school-aged or primary-aged children, is the second program.

Figure 8. Electronics Sensors and Actuators

Lego Mindstorm, Arduino Make Block Program, and RoboPlus are

examples of programming platforms. RoboPlus is the source code that
specifies the robot's tasks.
 Figure 9. Arduino Program

Figure 10. RoboPlus

Source:

ROBOT DESIGN. (2020, June 5). YouTube.

https://www.youtube.com/watch?v=H2ei-DAS8ao

Date: March 10, 2022 For the next day, the topic discussed in the seminar was the mechanical
Time In: 8am design of the robots.
Time Out: 5pm
Hour Spent: 8 hours

Certified Correct by:

Engr. Edward Ang

Supervisor/Trainer

Figure 11. Mechanical Design of a Robot

It demonstrates how to attach the servo to the robot frame and the various
servo assembly connections to the knee or foot. It depicts the robot's feet
and represents the installation of robot legs. A robot torso is coupled to
the arms and controlled by a DOF (Degrees of Freedom) system. The
robot's whole setup is now displayed, and the robotic hand can utilize full-
functioning hands (with five fingers) in place of the primary robotic hand.
After that comes the wiring phase, which explains how the microcontroller
is connected to various wires. For a cleaner appearance, it is preferred if
the wiring has good "wire management." It emphasizes the robot's design,
in which the numerous components or pieces should be scattered all over
the robot's sides for it to be balanced, as weight is an essential factor. This
diagram also depicts the robot's components to carry out its various tasks.

Figure 12. Sample of Robot Design in Solid works

It shows the different degrees of freedom. The z-axis of the robot is
referred to as the "yaw," the y-axis as the "pitch," and the x-axis as the
"roll," according to the "right-hand rule." This movement must be well-
understood because it defines the robot's degree of freedom.

For the next topic, I learned the mathematics related to creating a

humanoid robot movement.

Figure 13. Mathematics in Humanoid Robot Movement

It demonstrates the relationship between mathematics and human

movement about the robot, which uses reverse engineering because its
servos govern the person's emotions. Represented a bare hand, on the
other hand. The developer must be aware of the degrees of freedom
required because the robotic hands also represent human hand
movements. According to the video, the hand shown in the film has 17
degrees of flexibility. As a result, the movements of one hand must be
thoroughly analyzed to develop the robotic or metallic hand.
 Figure 14. Simple Hand and Robotic Hand

So, the biggest challenge in making bipedal humanoid robots is balance. A

humanoid robot that must balance on a single point of contact is a complex
challenge of sensors and software programming, as well as the factor in
that if the robot must move, keeping the center of gravity intact, and the
mechanics behind keeping the biped stable.

Figure 15. Biped Robot Balance

A humanoid robot balance on a single interface is a challenging sensor and

software development challenge. The Biped Robot's balance when
standing and moving is shown in Figure 33, with one weight partially
transferred to the other. The more batteries the robot has, the more
weight it has, and balancing become an issue. Hundreds of watts of power
are used in heavyweight robots, which comprise massive batteries,
 I/Electronics, voltage transformers, and amplifiers.

Source:

ROBOT DESIGN. (2020, June 5). YouTube.

https://www.youtube.com/watch?v=H2ei-DAS8ao

Date: March 11, 2022 For the last topic in the seminar and the last day of this week's OJT
Time In: 8am (Asynchronous online seminar). The topic discussed is the World Leader in
Time Out: 5pm
Robot Design. As I mentioned the previous day, Japan is known for its
Hour Spent: 8 hours
robots, not just robots, but their technology is inspiring.
Certified Correct by:

Engr. Edward Ang

Supervisor/Trainer

Figure 16. Japanese Robotics

Although Japan is often considered one of the best countries globally,

others may compete. Japan was a pioneer in the development of
humanoid and bipedal robots. Industrial businesses were the driving force
behind them. The "Humanoid Robotics Project," or HRP, was funded by the
Japanese Ministry of Economy, Commerce, and Industry.
 Figure 17. Korean Robotics

Now it's time to talk about robots from different countries. The Korea
Advanced Institute of Science and Technology (KAIST) has been developing
bipedal robots of the KHR-series in Korea since 2000. The KHR-1 is a 21-
degree-of-freedom robot created without the need for hands or ahead.
The KHR-2, on the other hand, is a humanoid robot with 41 degrees of
freedom that can move like a person. The most recent HUBO design,
released in 2010, is much better, with more refined human-like behaviors
and attributes. Figure 17 depicts Korea's KHR series.

Figure 18. France Robotics

The NAO, produced by the Aldebaran Company in 2006, is the most well-
known robot in France today. NAO is a 58-centimeter-tall humanoid robot
that may teach computer and science classes. The JRL (Japan-France Joint
Robotics Laboratory) was recently formed to help French robotics
professionals develop their research into legged robots. Some of the robots
made in France are shown in Figure 18.

Other European countries have developed robots as well. Humanoid

robots such as Johnnie or LOLA from the University of Munich in Germany,
which uses linear actuators, Lucy from the Vrije Universiteit in Brussel, use
pneumatic muscle. And iClub, a two-year-old child-like humanoid robot
from the University of Genova in Italy, has all been developed by
researchers and universities. The iClub was created as part of the EU
RobotClub program and is now used by more than 20 laboratories
worldwide.

Figure 19. EU Robotics

USA Robotics is another option. "Valkyrie," a 1.9-meter tall and 125-

kilogram spacecraft, was created by NASA. This robot can manipulate
objects in outer space. The 2014 DARPA Robotics Competition focused on
developing autonomous humanoid robots that might be used to
investigate disaster areas and assist in search and rescue operations. A
robot from the United States is seen in Figure 20.
 Figure 20. U.S.A Robotics

Finally, Singapore Robotics. Bipedal robots have been developed in

Singapore since 2007 by the National University of Singapore, Nanyang
Technologies, and Temasek Polytechnic. Figure 21 depicts some of
Singapore's most famous robots. Pinocchio is also the most well-known.

Figure 21. Singapore Robotics

By the end of the asynchronous lecture, I had learned a lot about the
influence and significance of robots on people. Robots are being used for a
wide range of functions that help the globe, not simply for dangerous jobs.
Because robots are computer-controlled instruments, all calculations for
each operation are accurate. Most robots perform repetitive tasks that
need precision.

Source:

ROBOT DESIGN. (2020, June 5). YouTube.

https://www.youtube.com/watch?v=H2ei-DAS8ao