Design and Implementation of an Adult-Size Humanoid Robot and Its Walking Gait Implementation

• Main Authors: Ming-Fang Tsai, 蔡銘芳
• Other Authors: Kuo-Yang Tu
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/93715755203979695990

碩士 === 國立高雄第一科技大學 === 系統資訊與控制研究所 === 98 === For an adult-size humanoid robot, heavy truck dynamics become considerable; long body has to design more join torque for operation. In addition, the mechanical error of join components is enlarged by longer links. The above problems result in only few adult-size humanoid robots implemented until now. Therefore, in this thesis an adult-size humanoid robot is designed and implemented. The rule of golden segmentation is used to design the ratio among truck and limbs so that the structure of the humanoid can be of nice view like a model girl. Therefore, an adult-size humanoid robot whose height is 132 cm, and weight is about 7 Kg is designed and implemented. Especially, all of the mechanical components of designed humanoid are produced by a CNC machine that is set up by ourselves. For solving the problem of adult-size humanoid robot implementation, the mechanical components are carefully made for high accuracy. Some joins are driven by double servo motors for more torque. The linear inverted pendulum approach to the truck weight solves the walking pattern to take its heavy dynamics. After integrating the mechanical, walking pattern and controller, the humanoid robot cannot walk very well. Via a designed user interface, its join trajectories are read back in computer for analysis. The major problems that the humanoid cannot walk very well are that the servo motors cannot offer enough torque and have steady state error. After compensating the designed join trajectories to canceling the steady state error, the humanoid robot can walk continuously. In this thesis, an adult-size humanoid robot is designed and implemented for walking. In addition, force sensors and an inertial measurement unit are designed and implemented for the humanoid robot. In the further development, their signals can be feed back for the closed-loop walking gait control of the humanoid robot.