Humanoid robot

Humanoid robot with 3 DOF Legs and 4 DOF Arms

Humanoid robots are currently being implemented in a wide range of industries. The most common place to find humanoid robots is within the entertainment industry, where the designers are looking for humanoid robots become visible humanlike. The human body was used as a scale model for determining link lengths and the rotational axes of joints. In order to allow the robot to move like a human, the number of degrees of freedom in the robot must correspond to those of a human. This resulted in 14 degrees of freedom a complex robot by any standard.

The robot is driven by 14 servo motors: 3 in each leg, one of which constitute ankle joint, one in knee joint and one in hip joint; 4 in each arm, two in the shoulder, one wrist and one hand (gripper). All these DOF allow flexible movement and fulfil the locomotion request. The main control system is connected to the controllers of the servos through a RS485 bus. The robot is powered by high-current Lithium-polymer rechargeable batteries, which are located in its pelvis. The cells last for about 30 minutes of operation.

The robot can moves autonomously, this locomotion deals with all kinds of movements, storage functions, online posture adjustment and feedbacks. The robot has a remote control which manages several numbers of programs sequentially.

Country & Year

Colombia - 2009

Authors

Hernando Leon-Rodriguez