HUMANOID ROBOTICS

Presented By
Mr. Abhijit Swami
TE (COMP)
Roll No. : 32

Under the Guidance of

Prof. Umakant Tupe

“Techno-Social Excellence”
Department of Computer Engineering
Marathwada Mitra Mandal’s Institute Of Technology, Lohgaon,
Pune-47
 CONTENT

 Introduction
 Motivation
 Objectives
 Architecture of System
 Advantages, Disadvantages/Limitations
 Conclusion of topic & References.

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 INTRODUCTION
 Robotics deals with Robot
 Recent enhancement in robotics – Humanoid robots
 Humanoid robots – having human characteristics or form
 Resembles humans both in appearance and behavior
 “Elektro” is the first Humanoid Robot

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 MOTIVATION

 Can work in human environment

 Environment and tools are adopted for us
 Easier for interaction
 Eases the work of humans
 Because it is dream of generation

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 OBJECTIVES

 Speed.
 To work in hazardous/dangerous environment.
 To perform repetitive task.
 Efficiency
 Accuracy

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 Architecture of System

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 The Three Laws Of Robotics
 A robot may not injure a human being, or, through
inaction allow a human being to come to harm.

 A robot must obey the orders given it by human beings

except where such orders would conflict with the First
Law.

 A robot must protect its own existence s long as such

protection does not conflict with the First or Second
Law.

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 Components
 Structure
 Power source
 Actuation
 Sensing
 Manipulation
 Locomotion

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 Configuration
 Degrees of freedom
 6 for each leg
 4 for each arm
 1 for each hand
 3 for waist
 2 for neck
 Total 25 degrees of
freedom

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 Formation of Control System
 Simulation System Configuration
• Robotics lab
• 9.8N gravitational force
• flat dry concrete floor
 PID controller
 Fuzzy Control

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 PID Control
 Proportional-integral-derivative (PID) control
 Is Control loop feedback mechanism
 Controller minimizes the error
 Three-term control : P I D
 PID equation

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 PID Block diagram

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 Fuzzy Control
 Definition-Fuzzy logic
 Consist input stage, processing stage, output stage
 Input stage maps sensor or other inputs
 Processing stage generates & combines the results
 Output stage – conversion of results

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 Fuzzy Block diagram

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 Formation of Control system
 Error and Speed of object maintained by PID
 Reason for using PID
 Better efficiency than other controller
 Fuzzy controller –robot’s position parallel to object

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 Formation of control system

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 Advantages And Disadvantages

 Advantages :
Safe load carrying
Good efficiency
High accuracy
less time consuming

 Disadvantages :
High cost
Maintenance cost is high
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 Conclusion
 Smooth coordination
 Carry objects safety on various surfaces
 Corrects position and speed of two robots
 Safely move the objects co-operatively

 Scope for improvement

 Design user friendly humanoids
 Cost effectiveness

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 Reference
 [1] R. Dillmann, R. Becher, and P. Steinhaus, “ARMAR II -
a learning and cooperative multimodal humanoid robot
system,” International Journal of Humanoid Robotics, vol.
1(1), pp. 143–155, 2004.
 [2] G. Strube and K. Wender (Eds.), “The Cognitive
Psychology of Knowl-edge (Advances in Psychology),”
North-Holland, 1993.
 [3] H. Moravec, “Stanford cart and the CMU rover,”
Proceedings of the IEEE, vol. 71(7), pp. 872–884, 1983.
 [4] N. J. Nilsson, “Shakey the robot,” SRI International,
Tech. Rep. 323, 1984.
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 Thanks
You
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