Development of a physical simulation of a real humanoid robot

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Development of a physical simulation of a real
humanoid robot
Logic Systems Laboratory (LSL) School of Computer
and Communication Sciences Swiss Federal
Institute of Technology, Lausanne Summer
Semester Project 2004
Pascal COMINOLI 8th Semester June the 21th, 2004
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Contents

• HOAP-2
• Design
• Cooperation with a foreign student
• Center of mass
• Motion tool
• Reproduction of movies
• Further developments Diploma Project

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HOAP-2

• Compact, light weight, and easy-to-treat
• Easy connection to a personal computer
• Can be used as a human robotics research tool for
  studying areas, such as movement control and
  communications with humans

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HOAP-2 (2)

• 7kg including battery
• 25 degrees of freedom
• RT-Linux
• Wired mode using USB cable
• Wireless LAN mode

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Design

• Webots
• Sometimes different from the original specs
• Using pictures to compare
• ODE
• Access to the robot needed
• Easy to update

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Shapes

• Art of Illusion
• Measurements on pictures
• Easy to update (scale)

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Design
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Cooperation with a foreign student

• Department of Informatics, University of
  Edinburgh
• Developing Controllers for Biped Humanoid
  Locomotion
• Develop a natural looking walking gait for a full
  body 22DOF humanoid robot
• He decided to use my HOAP-2 model

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Center of mass

• From the robot point of view
• Homogeneous coordinates
• Transformation matrices

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Center of mass (2)

• Rotation around an arbitrary point p(px, py, pz)

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Center of mass (3)

• Representation in the world
• Emitter
• Receiver

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Motion tool

• Adaptation from an other semester project on QRIO
• Useful for my diploma project

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Reproduction of movies

• Movies available on Fujitsu web site
• Check the appropriateness of the model simulated
  compared to the real robot

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Reproduction of movies (2)

• Headstand

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Reproduction of movies (3)

• Sumo-like

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Further developments

• Update the design
• Update to Webots 4.0.23
• ZMP
• Powerful physics-based simulation tools
• Artificial body ?? Artificial mind
• Diploma project