A Course in Simulation and Demonstration of Humanoid Robot Motion

Author

Liu, Hsin-Yu ; Wang, Wen-June ; Wang, Rong-Jyue

Author_Institution

Dept. of Electr. Eng., Nat. Central Univ., Jhongli, Taiwan

Volume

54

Issue

2

fYear

2011

fDate

5/1/2011 12:00:00 AM

Firstpage

255

Lastpage

262

Abstract

An introductory course for humanoid robot motion realization for undergraduate and graduate students is presented in this study. The basic operations of AX-12 motors and the mechanics combination of a 16 degrees-of-freedom (DOF) humanoid robot are presented first. The main concepts of multilink systems, zero moment point (ZMP), and feedback control are then introduced such that the students can understand the relationship between the ZMP position and the stability of the robot. Finally, the students can simulate the desired motion trajectory and realize the motion practically on the real humanoid robot. Taking this course, the students can not only learn robotic theories and control techniques for humanoid robot motion, but can also enhance their experience in hands-on experiments in executing the motion of a humanoid robot. The proposed educational strategy will enable students to progress easily to more advanced work on robot design and control in their future study or careers.

Keywords

control engineering education; educational courses; feedback; humanoid robots; mobile robots; motion control; position control; stability; AX-12 motors; DOF humanoid robot; ZMP position; control techniques; degrees-of-freedom humanoid robot; educational strategy; feedback control; hands-on experiments; humanoid robot motion realization; introductory course; mechanics combination; motion trajectory; multilink systems; robot control; robot design; robotic theory; stability; undergraduate students; zero moment point; Computers; Educational robots; Humanoid robots; Joints; Stability analysis; Trajectory; Educational strategy; humanoid robot stability; multilink system; zero moment point (ZMP);

fLanguage

English

Journal_Title

Education, IEEE Transactions on

Publisher

ieee

ISSN

0018-9359

Type

jour

DOI

10.1109/TE.2010.2051157

Filename

5483077