Project proposal for Process Intelligent Autonomous Systems at 8. Semester Spring 2006

chestpeeverIA et Robotique

13 nov. 2013 (il y a 5 années et 3 jours)

91 vue(s)

Project proposal for Process Intelligent Autonomous Systems at
8. Semester Spring 2006

Modelling, Simulation and Control of a Biped Robot

Introduction:
This project aims towards taking the first steps with a biped robot developed at Aalborg University.
All over the world robots is the hot topic in Control Engineering, and also in the daily news. An
example of this is Elvis the robot from Göteborg University, depicted in Figure 1. The mechanical
system for a biped robot has been constructed, assembled and is ready to use. It features 21 degrees
of freedom, and should therefore give rich possibilities in the design phase. The end result of this
biped robot should be a system that can be used in a wide range of scenarios. It could be walking
patterns, visual and audio improvements, cooperating robots and artificial intelligence.




Figure 1 - Picture of the robot Elvis from Göteborg University

Objectives for this project:
With the above written background knowledge in mind, the objectives for this project is:

1) Determination of necessary actuators and sensors.
2) Since only the electro-mechanical parts of the robot have been assembled, the electrical
system will have to be constructed.
3) A suitably model of the robot most developed.
4) Controllers for all systems and sub systems should be designed, utilizing the control
methods learned at IAS 8. Semester (Robust and Optimum control).
5) The constructed model could serve as basis for simulating controllers.
6) Final step is implementation on the real robot

The first step is to construct a stable standing robot, which does not necessary uses all degrees of
freedom (e.g. the arms) for stabilisation. Second step is to make the robot take a few steps.

Learning’s through the project:
Learning in this project will follow the “Studieordning for 8. Semester IAS.”

• To give knowledge and comprehension of optimal and robust control theory.
• To give the students the ability to analyse modern control methods for multi input/multi
output systems.
• To give students the ability to apply modelling methods and control synthesis for
advanced mechanical systems.


More Info at these websites:
http://ehw.jpl.nasa.gov/humanoid/assets/Documents/JamieFinalPaper.pdf
http://www.cc.gatech.edu/fac/Chris.Atkeson/legs/kuff1a.pdf
http://www.fujitsu.com/downloads/WWW2/rd/papers/hoap3.pdf
http://staff.aist.go.jp/k.kaneko/publications/2004_publications/IROS2004-1282.pdf
http://birg2.epfl.ch/biai-material/Kimura-2003IJRR.pdf
http://www.plexos.com/Robots.htm

Proposed by:

Jan Helbo
Jesper Lundgaard Nielsen (
jlni03@control.auc.dk
)
Peter Falkesgaard Ørts (
pfoe03@control.auc.dk
)