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An Open Source Platform for Controlling the MANOI AT01 Humanoid Robot and Estimating its Center of Mass

Al-Faisali, Nihad
http://rave.ohiolink.edu/etdc/view?acc_num=dayton1399035167

Abstract Details

2014, Master of Science (M.S.), University of Dayton, Electrical Engineering.
This thesis describes the development of a real-time, open source, easily programmed and controlled platform to replace the existing Manoi AT01 humanoid robot. Processing language was used as a control and implements the Graphical User Interface (GUI) and an Arduino Mega development board and an SD21 servo-driver were used to implement the controller and data acquisition. The designed platform is also used to measure and calculate the Center of Pressure (CoP) of the robot. For this purpose, Force Sensitive Resistor (FSR) sensors are used to measure the force exerted by the weight of the robot. Four sensors were used and are positioned on the corners of a specially designed plastic feet attached to each leg. The CoP is calculated by the Arduino and displayed in real time on the GUI. In order to determine the Center of Mass (CoM), the Statically Equivalent Serial Chain (SESC) model is adopted. This model is implemented using MATLAB. The implemented GUI provides a function that allows the user to create a file for storing the position of each servo and the CoP of different scenarios. These data files are used as the input to the SESC model program in order to estimate the CoM of the robot.
Raul Ordonez (Committee Chair)
Daniels Malcolm (Committee Member)
Barrera Ralph (Committee Member)
71 p.
Electrical Engineering
Humanoid Robot; Center of Mass; Center of Pressure; Statically Equivalent Serial Chain; Arduino; Force Sensitive Resistor

Recommended Citations

Citations

  • Al-Faisali, N. (2014). An Open Source Platform for Controlling the MANOI AT01 Humanoid Robot and Estimating its Center of Mass [Master's thesis, University of Dayton]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1399035167

    APA Style (7th edition)

  • Al-Faisali, Nihad. An Open Source Platform for Controlling the MANOI AT01 Humanoid Robot and Estimating its Center of Mass. 2014. University of Dayton, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=dayton1399035167.

    MLA Style (8th edition)

  • Al-Faisali, Nihad. "An Open Source Platform for Controlling the MANOI AT01 Humanoid Robot and Estimating its Center of Mass." Master's thesis, University of Dayton, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1399035167

    Chicago Manual of Style (17th edition)

dayton1399035167
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© 2014, all rights reserved.
This open access ETD is published by University of Dayton and OhioLINK.