Humanoid Robotics - Revision history

Yoda at 14:26, 31 July 2009

2009-07-31T14:26:54Z

← Older revision		Revision as of 14:26, 31 July 2009
Line 1:		Line 1:
	[[Image:Bioloidlsmall.JPG\|frame\|The Bioloid Humanoid]]		[[Image:Bioloidlsmall.JPG\|frame\|The Bioloid Humanoid]]
	== Introduction ==		== Introduction ==
	ISR has been doing ~~some~~ research concerning humanoid robots, dealing mainly with ~~a more~~ anthropomorphic walking pattern. In order to implement new algorithms that allow us to great more complex and human-like movements, a Bioloid Expert Kit has been acquired and the Humanoid model has been assembled. The model originally consists on 18 servos and 1 distance sensor, controlled by a processing unit through a half-duplex UART, connected in a daisy-chain.		ISR has been doing research concerning small humanoid robots, dealing mainly with anthropomorphic walking pattern. In order to implement new algorithms that allow us to great more complex and human-like movements, a Bioloid Expert Kit has been acquired and the Humanoid model has been assembled. The model originally consists on 18 servos and 1 distance sensor, controlled by a processing unit through a half-duplex UART, connected in a daisy-chain.

Clusher at 11:15, 29 July 2009

2009-07-29T11:15:18Z

← Older revision		Revision as of 11:15, 29 July 2009
Line 9:		Line 9:
	=== The Bioloid Humanoid ===		=== The Bioloid Humanoid ===
	This platform was made by [http://www.robotis.com/zbxe/main Robotis] and features the ability to be assembled into different models, from a robotic arm or a simple pair of walking legs to a puppy or the humanoid. Even the models suggested can be changed into more complex versions and a vast range of examples can be found online. Two of the top forums to obtain further info and ideas are [http://robosavvy.com/forum/viewforum.php?f=5 Robosavvy] and [http://www.tribotix.com/Products/Robotis/Robotis.htm Tribotix].		This platform was made by [http://www.robotis.com/zbxe/main Robotis] and features the ability to be assembled into different models, from a robotic arm or a simple pair of walking legs to a puppy or the humanoid. Even the models suggested can be changed into more complex versions and a vast range of examples can be found online. Two of the top forums to obtain further info and ideas are [http://robosavvy.com/forum/viewforum.php?f=5 Robosavvy] and [http://www.tribotix.com/Products/Robotis/Robotis.htm Tribotix].

			The Bioloid Kit features a CM-5 controller (includes an ATMega128 microprocessor, 16MHz and two UARTs), Dynamixel AX-12+ servos and a Dynamixel AX-S1 distance sensor. The CM-5 is connected to the servos and sensors using a bus connecting all devices through a daisy-chain network. It can also be connected to a computer using a serial connection, giving access to many different ways of dealing with the robot.

			For more detailed information about the Bioloid, check [[ISR Bioloid Humanoid]].

Clusher at 11:08, 29 July 2009

2009-07-29T11:08:01Z

← Older revision		Revision as of 11:08, 29 July 2009
Line 1:		Line 1:
	[[Image:Bioloidlsmall.JPG]]		[[Image:Bioloidlsmall.JPG\|frame\|The Bioloid Humanoid]]
	== Introduction ==		== Introduction ==
	ISR has been doing some research concerning humanoid robots, dealing mainly with a more anthropomorphic walking pattern. In order to implement new algorithms that allow us to great more complex and human-like movements, a Bioloid Expert Kit has been acquired and the Humanoid model has been assembled. The model originally consists on 18 servos and 1 distance sensor, controlled by a processing unit through a half-duplex UART, connected in a daisy-chain.		ISR has been doing some research concerning humanoid robots, dealing mainly with a more anthropomorphic walking pattern. In order to implement new algorithms that allow us to great more complex and human-like movements, a Bioloid Expert Kit has been acquired and the Humanoid model has been assembled. The model originally consists on 18 servos and 1 distance sensor, controlled by a processing unit through a half-duplex UART, connected in a daisy-chain.
Line 8:		Line 8:

	=== The Bioloid Humanoid ===		=== The Bioloid Humanoid ===
			This platform was made by [http://www.robotis.com/zbxe/main Robotis] and features the ability to be assembled into different models, from a robotic arm or a simple pair of walking legs to a puppy or the humanoid. Even the models suggested can be changed into more complex versions and a vast range of examples can be found online. Two of the top forums to obtain further info and ideas are [http://robosavvy.com/forum/viewforum.php?f=5 Robosavvy] and [http://www.tribotix.com/Products/Robotis/Robotis.htm Tribotix].

Clusher at 10:49, 29 July 2009

2009-07-29T10:49:48Z

← Older revision		Revision as of 10:49, 29 July 2009
Line 1:		Line 1:
			[[Image:Bioloidlsmall.JPG]]
	== Introduction ==		== Introduction ==
	ISR has been doing some research concerning humanoid robots, dealing mainly with a more anthropomorphic walking pattern. In order to implement new algorithms that allow us to great more complex and human-like movements, a Bioloid Expert Kit has been acquired and the Humanoid model has been assembled. The model originally consists on 18 servos and 1 distance sensor, controlled by a processing unit through a half-duplex UART, connected in a daisy-chain.		ISR has been doing some research concerning humanoid robots, dealing mainly with a more anthropomorphic walking pattern. In order to implement new algorithms that allow us to great more complex and human-like movements, a Bioloid Expert Kit has been acquired and the Humanoid model has been assembled. The model originally consists on 18 servos and 1 distance sensor, controlled by a processing unit through a half-duplex UART, connected in a daisy-chain.
	~~[[Image:Bioloidlsmall.JPG]]~~

	== Research Activities ==		== Research Activities ==

Clusher: The Humanoid Robotics section show the work being done on a Bioloid platform

2009-07-29T10:49:16Z

The Humanoid Robotics section show the work being done on a Bioloid platform

New page

== Introduction ==
ISR has been doing some research concerning humanoid robots, dealing mainly with a more anthropomorphic walking pattern. In order to implement new algorithms that allow us to great more complex and human-like movements, a Bioloid Expert Kit has been acquired and the Humanoid model has been assembled. The model originally consists on 18 servos and 1 distance sensor, controlled by a processing unit through a half-duplex UART, connected in a daisy-chain.
[[Image:Bioloidlsmall.JPG]]

== Research Activities ==
Currently the work being done consists in developing balance and walking algorithms, using an enhanced version of the Bioloid, as well as a simulation environment using Webots. The next few sections will deal with the Bioloid platform, the improvements that are currently being done and the reasons behind these decisions, and finally the kind of experiments and methods used for attaining the final goals.

=== The Bioloid Humanoid ===