Humanoid Robotics

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.

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.