Difference between two-legged humanoids and human like wheeled robots. Kinematics – Coordinate Transformations – Characteristics of Rotational Motion – Velocity in Three-Dimensional Space – Robot Data Structure and Programming – Kinematics of a Humanoid Robot.
ZMP and Dynamics – ZMP and Ground Reaction Forces – Measurement of ZMP – Dynamics of Humanoid Robots – Calculation of ZMP from Robot’s Motion. Biped Walking – Two-Dimensional Walking Pattern Generation – 3D Walking Pattern Generation – ZMP-based Walking Pattern Generation – Stabilizing Control – Central Pattern Generators.
Methods for gait generation, central pattern generators. Applications of humanoid robots. Humanoid robots in society – current and future applications, comparison with other types of robots. Hardware construction, including the use of microcontrollers and servo motors in connection with humanoid robots.
Suggested Lab Sessions:
· Part and Assembly Modelling in 3D CAD Software (Autodesk Inventor / Equivalent)
· Kinematic analysis of biped architecture in MATLAB and ADAMS/ RecurDyn/ Equivalent
· Dynamic analysis of biped architecture in MATLAB and ADAMS / RecurDyn / Equivalent
· Design and development of a functional biped robot as an outcome of this course