A Practical Humanoid Robot Morphology for Operation in Civilian Environments
Citation:
Conor McGinn, 'A Practical Humanoid Robot Morphology for Operation in Civilian Environments', Graduate Students’ Union of the University of Dublin, Trinity College, Journal of Postgraduate Research;13, 2014Download Item:
Abstract:
Despite recent progress in robotics research and development, the effective
design of multi-purpose robotic solutions for civilian and domestic
environments has proven particularly elusive. Mechanically simple systems
are typically incapable of traversing stairs (a feature in most buildings) and
lack the flexibility to undertake many tasks that may be desired while more
complex solutions suffer from practical issues relating to excessive weight,
size, power consumption and control complexity. The purpose of this research
was to develop a hybrid robot morphology which possesses a high degree
of mechanical complexity while retaining much of the control simplicity,
stability and power efficiency of a conventional wheeled robot.
This paper presents the novel design of a robot morphology capable of
exhibiting efficient locomotion within virtually all civilian/domestic
environments and picking up objects from the ground. Through real-time
control of the robot’s static stability margin, the pose of the robot has been
engineered to maintain stability while reducing control complexity and energy
consumption. A mathematical description of the robot’s forward kinematics
is given. Practical performance capabilities of the first physical embodiment
of this design are presented and future work including the implementation of
a novel stair-climbing gait is discussed.
Author: McGinn, Conor
Publisher:
Graduate Students’ Union of the University of Dublin, Trinity CollegeType of material:
Journal ArticleCollections:
Series/Report no:
Journal of Postgraduate Research;13Availability:
Full text availableKeywords:
RoboticsISSN:
2009-4787Licences: