Design of Kokone, a small humanoid robot

Author

Hernández, V. González ; Torres, G. Ramírez

Author_Institution

Dept. of Comput. Sci., CINVESTAV-IPN, Mexico City, Mexico

fYear

2009

fDate

10-13 Jan. 2009

Firstpage

1

Lastpage

6

Abstract

In this paper we present the design of Kokone, a small humanoid robot. Kokone (Â¿kidÂ¿ in naÂ¿huatl, a mexican dialect) has 22 degrees of freedom (DoF), with an aluminum structure (1.5 mm thickness). A PC sends control signals to the robot via a serial link. The forward kinematics model is obtained with the Denavit-Hertenberg method. The inverse kinematics problem is solved using a genetic algorithm (GA). The solutions obtained by the GA are then plotted in order to verify their suitability, and show a good performance. Our main objective with this project is to obtain an affordable robotic platform for the development of robotic vision algorithms and navigation strategies.

Keywords

genetic algorithms; humanoid robots; mobile robots; robot kinematics; robot vision; Denavit-Hertenberg method; Kokone; aluminum structure; degrees of freedom; forward kinematics model; genetic algorithm; inverse kinematics problem; navigation strategies; robotic vision algorithms; small humanoid robot; Actuators; Artificial neural networks; Genetic algorithms; Humanoid robots; Humans; Kinematics; Mobile robots; Navigation; Robot vision systems; Testing; Biped locomotion; genetic algorithm; humanoid robot; inverse kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering, Computing Science and Automatic Control,CCE,2009 6th International Conference on

Conference_Location

Toluca

Print_ISBN

978-1-4244-4688-9

Electronic_ISBN

978-1-4244-4689-6

Type

conf

DOI

10.1109/ICEEE.2009.5393436

Filename

5393436