1. P E S Institute of Technology
Department of Electronics and Communication
Engineering
Seminar
On
“Control System of Humanoid Robots for
Dynamic Load Carrying”
Guide,
Dr. K Koshy George, By,
Professor, Rohit Bhat
1PI08EC092
Dept. of TE, PESIT

2. Contents
• Introduction
• History
• Composition
• Simulation Environment and Configuration
• Types of Humanoid Robots
• Formation of Control System
• PID Control
• Fuzzy Control
• Advantages & Disadvantages
• Applications
• Conclusion

3. Introduction
 Robotics deals with robots
 Recent enhancement in robotics - Humanoid robots
 Humanoid robots - having human characteristics or form
 Resemble human both in appearance and behavior
 “Elektro” is the first Humanoid Robot

4. History
 Integration of scientific and engineering fields, has a social
dimension
 WASEDA University- leading research sites
 First usable robot by HONDA in 1996
 HONDA Humanoid robots-brief history
 First high profile humanoid robot-Honda’s ASIMO-2000

5. Human Evolution vs. Humanoid Evolution

6. Why Develop Humanoids?
 More rational reasons
• Can work in human environment
• Environment and tools are adapted for us
• Easier for interaction
• Eases the work of humans
• Because it is a dream of generations

7. Composition
 Main components
Actuators – motion motors
Sensors – measure some attribute(sensing)
-proprioceptive
-exteroceptive
 Others
Manipulators
Power source

8. Simulation Tools
• 3D CAD model of the humanoid robot created
using Solid Works 2003
• Robotics Software Development Environment,
Robotics Lab TM v.1.5
• Addition of characteristics (weights)
• Connection of each part
• Surface Contact conditioner to walk

9. Configuration
• Degrees of Freedom
 6 for each leg
 4 for each arm
 1 for each hand
 2 for waist
 1 for neck
Total 25 degrees of
freedom

10. Types of Humanoid Robots
 QRIO
--pronounced ”curio”-”quest for curiosity”
 HRP
 ASIMO- Advanced Step in Innovative Mobility
 AIBO-Artificial Intelligence Robot
 PARO
 PaPeRo

11. Few humanoid robots

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

13. PID Control
 Proportional-integral-derivative (PID) control
 Is control loop feedback mechanism
 Controller minimizes the error
 three-term control: P I D
 PID equation
Kp – Proportional Gain
Ki – Integral Gain
Kd- Derivative Gain

14. Block Diagram

15. Fuzzy Control
 Definition-Fuzzy logic
 consists input stage, processing stage, output stage
 input stage maps sensor or other inputs
 processing stage generates & combines the results
 output stage – conversion of results

16. Block diagram

17. Formation of control system (contd…)
 Chest of the robot was basis
 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
 Why fuzzy control along with PID?

19. Advantages and disadvantages
ADVANTAGES
 Safe load carrying
 Good efficiency
 High accuracy
 Less time consuming
DISADVANTAGES
 High cost
 Requires specialized people for maintenance

20. Applications
 Automobile industry
 Manufacturing industry
 Infrastructure projects

21. Humanoid Robot Applications

22. Conclusion
safely move the objects co-operatively
Corrects position and speed of two robots
Smooth co-ordination
carry objects safely on various surfaces
Scope for improvement
 Design user friendly humanoids for Layman
 Cost effectiveness

23. Q
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