Design and development of a fully autonomous decimeter-scale humanoid robot

Author

Cerdeña, T. ; Callero, Y. ; Perea, D. ; Betancor, P. ; Lutzardo, D. ; Toledo, J. ; Acosta, L.

Author_Institution

Dept. of Syst. Eng. & Autom., & Comput. Archit., Univ. of La Laguna, La Laguna

fYear

2009

fDate

14-17 April 2009

Firstpage

1

Lastpage

6

Abstract

A decimeter-scale humanoid robot is proposed and realized in this paper. The humanoid robot is fully autonomous in terms of sensing, processing and power supply. In addition, the robot has a low cost design. Sensing capabilities are provided by a camera and computer vision algorithms. Processing power is provided by a PC/104. Robot gait generation is based in sinusoid wave parameterization. The physical structure was built using a KHR-1 model as a base. With this equipment, the robot can manage itself in a controlled environment with obstacles, and find a route among them. The software components developed to manage the system are fully modular and layered, and all of them run in the PC/104. The robot can be monitored remotely by wireless radio link.

Keywords

control system synthesis; humanoid robots; mobile robots; telerobotics; KHR-1 model; autonomous decimeter-scale humanoid robot design; camera; computer vision algorithms; robot gait generation; sinusoid wave parameterization; Cameras; Computer vision; Costs; Environmental management; Humanoid robots; Power supplies; Power system management; Power system modeling; Robot sensing systems; Robot vision systems; Autonomous humanoid robot; KHR-1; Monitoring System; PC/104; Planning System; computer vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics, 2009. ICM 2009. IEEE International Conference on

Conference_Location

Malaga

Print_ISBN

978-1-4244-4194-5

Electronic_ISBN

978-1-4244-4195-2

Type

conf

DOI

10.1109/ICMECH.2009.4957211

Filename

4957211