11 Walking Biped Robot

See PDF file

No.11 [ Individual Work ]

Classification : Biped Robot

Name : Walking Robot

Date : 2008.09 ~ 2008.12

Overview

I made this robot in "Humanoid Robot Design" course. This is the final project of this course. I learned how to apply Inverse Kinematics to robot effectively for stable and fast walking through this project. Passing through hard time, I could make the fastest and most stable robot among all final works in the course.

My contributions

- Applied & modified Inverse Kinematics to the robot for better walking.

- Motor control

04 LAON | Humanoid

Download PDF file
No.4 [ Team Work ]
Classification : Biped Humanoid
Name : LAON
Date : 2007.04 ~ 2008.04

Overview
LAON was developed using voice recognition and playing MP3 file for enhanced interaction with people by
allowing simple conversation and be controlled by voices. Its movement is conducted according to its
surroundings and automatic getting up after falling is enabled through the sensors.

Description
1. Specification
- Weight: 4.4 (kg)
- Number of Degree of Freedom: 22 DOF
- Communication system: Blue-tooth
- Motors: Robotis RX-64, DX-117
- MCU: AVR 128- Sensors: Gyro sensors, Tilt sensors, PSD Sensors 2EA

2. Functions
- Primary movement: Walking(front/back/left/right)
- Movement for fight: Fight(front/back/left/right), Defense,
- Performance: Dance, Kicking a ball, Introducing itself
- Self-movement: Adjusting its posture using Tilt-sensor, Automatic getting up when falling down

3. My contributions
- System Integration
- Developed walking algorithms using ZMP ( Zero Momentum Point ) and Inverse Kinematics
- Built an MP3 module that can be used in humanoid robots

4. Team members (2)
- Hyung-ju, Park (PL)

- Hyun-jun, Kim

Activities
1. Bronze Award in IEEE International Intelligence Robot Software Competition 2007
2. 2008 Korean ROBO-ONE competition quarter finalists and participated in various competitions


▶ With a smaller robot of our club


▶ Bowing Laon


▶ Introducing himself with his own voice


▶ Kicking a ball after deciding which side it is placed at through sensors

▶ Walk Forward / Backward

▶ Walk Right / Left side

▶ Dance

▶ Interview on TV News

03 KR-1 Blast | Humanoid

No.3 [ Individual Work ]
Classification : Biped Humanoid
Name : KR-1 BLAST
Date : 2006.07 ~ 2007.01

Overview
A middleweight intelligent biped robot assembled using torque exceeding 60kg of 20 RX-64 motors (approx. $10,000) funded by the government. It can go through a maze on its own, able to run while keeping distance from the walls, automatically getting up is possible through the sensors.

Description
1. Specification
- Weight: 4.4 (kg)
- Number of Degree of Freedom: 23 DOF
- Communication system: Blue-tooth
- Motors: Robotis RX-64, DX-117- MCU: AVR 128
- Sensors: Gyro sensor, Tilt Sensor 2EA, PSD Sensor 6EA

2. Functions
- Primary movement: Walking(front) 6 kind of algorithms, Walking(back), Walking(left/right),
- Movement for fight: Fight (front/back/left/right), Defense,
- Performance: Dance, Going up stairs, Archery, Rope skipping, etc.
- Self-movement: Going through a maze, Running while keeping distance from the walls, Automatic getting up when falling down

3. Major Development
- Designed the platform (H/W) using 3D cad tools
- Developed firmwares that enable real-time motion through RS232 serial communication
- Controlled motors, developed walking algorithms using ZMP ( Zero Momentum Point ) and Inverse Kinematics

Activities
1. Robot demonstration on many TV programs
2. Competed in Korean ROBO-ONE Champion Finals
3. Ubiquitous Robot Competition 2006 on “Robo-Champ” of Korean Broadcasting System
( 5th place in Qualifications, and 6th in Main Tournaments )
4. Robot World 2006 Robot dance 1st place in main tornament


▶ 3D CAD Design


▶ Cover model on a famous robot magazine

▶ Appeared on KBS URC 2006 TV Program

▶ Appeared on M-Zone Internet TV program

▶ With robots of our club

▶ My working environment and KR-1 Blast

▶ Practicing going through a maze with sensors only

▶ Appeared on an Internet TV progam

02 KR-1 | Humanoid

No.2 [ Team Work ]
Classification : Humanoid
Name : KR-1
Date : 2005.11 ~ 2006.05

Overview
Designed the body that minimized the number of aluminum frames to lower the weight and used Robotis company’s Smart actuators.
KR-1 took 1st place in many robot competitions in 2005.

Description
1. Specification
- Weight: 2.8 (kg)
- Number of Degree of Freedom: 23 DOF
- Communication system: BlueTooth Wireless
- Motors: Robotis DX-113, DX-117
- MCU: AVR 128

2. Functions
- Primary movement: Walking(front/back/left/right), Turning(left/right),
- Movement for fight: Fight(front/back/left/right), Defense, Roll(front/back/left/right)
- Performance: Dance, Going up stairs, Picking up a cup, Kicking a ball

3. My contributions
- Designed the platform (H/W) using CAD tools
- Developed firmwares that enable real-time motion through RS232 serial communication
- Designed circuits

4. Team members ( 2 )
- Yoon-seok, Pyo ( Project Leader )
- HYUNGJU PARK

Activities
1. Seoul National University of Technology Robot Festival 2nd place
2. KISTI invitation to iGrid2005; demonstration contents ; robot performance
3. Advanced to the round of sixteen of The International Robo-One Competition 2006
4. 1th in Qualification in Korea Robot War 2006
5. Humanoid contest on “Robot Power” of Korea Educational Broadcast System

▶ Appeared on a Korean magazine


▶ EBS ROBOT-POWER TV



▶ 2006 International ROBO-ONE competition



▶ SNUT Robot Festival 2005



▶ Gwang Band Music video

▶ The ROBO-ONE Grand Prix 2006 on TV

▶ Interview on a TV program

01 ROLABCOP | Humanoid

Appeared on China's ChingDao News in September, 2005

Appeared on the Internet News in August , 2005

Rolabcop and 815 took 2nd place in RUF2005 Robot Dance !!

No.1 [ Individual Work ]
Classification : Biped Humanoid robot
Name : ROLABCOP
Date : 2005.07 ~ 10

Overview
The first biped robot I built using Bioloid-kit from ROBOTIS company using Robo-cop concept. It is able to perform various actions including walking, gymnatics, and fighting.

Description
1. Specification
- Weight: 1.8 (kg)
- Number of Degree of Freedom: 19
- Communication system: ZigBee
- Motors: AX-12
- MCU: AVR 128

2. Functions
- Primary movement – Walking(front/back/left/right), Turning
- Movement for fight – Fight(front/back/left/right), Defense, roll
- Performance – dance, exercising motions, etc.

3. My contributions

- Developed a firmware that enables real-time motion through RS232 serial communication

- Controlled motors

Activities
1. Robo-one Humanoid robot competition in Mania Festival 2005
( 4th place in Qualifications, and 9th in Main Tournaments )
2. Demonstrator in China invitational ROBO-ONE competition of WEF2005
3. 2nd place in Robot Dance competition of the Robot Universiade Festa 2005

4. Demonstrator in the 4th Gwang-ju Science Fair sponsored by Gwang-ju Board of Education

▶ ROLABCOP at a competition

▶ Rolabcop & 815 's double dance