De Villa, Rafran P.
Development of reverse biped robot and a motion sequencer using linear interpolation / Rafran P. De Villa. - 87 leaves : illustrations ; 28 cm.
Thesis (Master in Computer Science) -- Cebu Institute of Technology - University, March 2009.
A lot of humanoid robots are already available in the market, each having its own distinct features with vivid movements, and incredible flexibility. Controlling a robot that requires simultaneous synchronization of more than four servo motors have been a stumbling block for developers and hobbyist alike. As the movements of the robot gets more intricate, the generation of static gaits becomes more and more complicated.
This paper presents the development of a 12 DOF reverse biped robot and developer application for the control of the remote device. The robot is a twelve servo biped walker featuring six degrees of freedom per leg. The robot can walk forward or backward and turn in place left or right using static balance gait.
The robot is controlled via Bluetooth by an application that helps simplify the task for multiple servo manipulation by providing an easy to use software interface for precise servo movement and control. The IDE interface uses the click and drag function of the mouse adding points to create a line that would define the servo?s motion. This graphical representation of the servo positions based on time/frame passed will help simplify the task of creating graphic interpolations for complex animations. With the graph of the servo commands that defines the motion sequences, we could start to pick out the repetitive nature of the motions and the symmetry between pairs of servos, and save it for future use. The application includes an editor for one to add voice commands and utilize the generated motion sequences.
This research aims to provide the basic foundation towards creating a fully functional autonomous bipedal robot and explores the other areas of multimodal interaction such speech as an interface between human users and other electronic devices.
Artificial intelligence.
Automation.
Robotics.
006.3
Development of reverse biped robot and a motion sequencer using linear interpolation / Rafran P. De Villa. - 87 leaves : illustrations ; 28 cm.
Thesis (Master in Computer Science) -- Cebu Institute of Technology - University, March 2009.
A lot of humanoid robots are already available in the market, each having its own distinct features with vivid movements, and incredible flexibility. Controlling a robot that requires simultaneous synchronization of more than four servo motors have been a stumbling block for developers and hobbyist alike. As the movements of the robot gets more intricate, the generation of static gaits becomes more and more complicated.
This paper presents the development of a 12 DOF reverse biped robot and developer application for the control of the remote device. The robot is a twelve servo biped walker featuring six degrees of freedom per leg. The robot can walk forward or backward and turn in place left or right using static balance gait.
The robot is controlled via Bluetooth by an application that helps simplify the task for multiple servo manipulation by providing an easy to use software interface for precise servo movement and control. The IDE interface uses the click and drag function of the mouse adding points to create a line that would define the servo?s motion. This graphical representation of the servo positions based on time/frame passed will help simplify the task of creating graphic interpolations for complex animations. With the graph of the servo commands that defines the motion sequences, we could start to pick out the repetitive nature of the motions and the symmetry between pairs of servos, and save it for future use. The application includes an editor for one to add voice commands and utilize the generated motion sequences.
This research aims to provide the basic foundation towards creating a fully functional autonomous bipedal robot and explores the other areas of multimodal interaction such speech as an interface between human users and other electronic devices.
Artificial intelligence.
Automation.
Robotics.
006.3