humanoid robot project ( 人形機器人 -- 地瓜丸 -- ) 2005/3/24 li-wei wu nctu-dream maker
Post on 19-Dec-2015
221 views
TRANSCRIPT
![Page 1: Humanoid Robot Project ( 人形機器人 -- 地瓜丸 -- ) 2005/3/24 Li-Wei Wu NCTU-Dream Maker](https://reader035.vdocuments.pub/reader035/viewer/2022062308/56649d355503460f94a0d3a5/html5/thumbnails/1.jpg)
Humanoid Robot ProjHumanoid Robot Projectect
(( 人形機器人人形機器人 ---- 地瓜丸地瓜丸 -- )-- )
2005/3/242005/3/24Li-Wei WuLi-Wei Wu
NCTU-Dream MaNCTU-Dream Makerker
![Page 2: Humanoid Robot Project ( 人形機器人 -- 地瓜丸 -- ) 2005/3/24 Li-Wei Wu NCTU-Dream Maker](https://reader035.vdocuments.pub/reader035/viewer/2022062308/56649d355503460f94a0d3a5/html5/thumbnails/2.jpg)
Fig.2 地瓜丸 robot 步行 ( 背面 )Fig.1 地瓜丸 robot 步行 ( 正面 )
Mechanical Design 1
![Page 3: Humanoid Robot Project ( 人形機器人 -- 地瓜丸 -- ) 2005/3/24 Li-Wei Wu NCTU-Dream Maker](https://reader035.vdocuments.pub/reader035/viewer/2022062308/56649d355503460f94a0d3a5/html5/thumbnails/3.jpg)
Fig3 地瓜丸 robot 揮手 Fig4 地瓜丸 robot 出拳
Mechanical Design 2
![Page 4: Humanoid Robot Project ( 人形機器人 -- 地瓜丸 -- ) 2005/3/24 Li-Wei Wu NCTU-Dream Maker](https://reader035.vdocuments.pub/reader035/viewer/2022062308/56649d355503460f94a0d3a5/html5/thumbnails/4.jpg)
設計過程 & 系統模擬
![Page 5: Humanoid Robot Project ( 人形機器人 -- 地瓜丸 -- ) 2005/3/24 Li-Wei Wu NCTU-Dream Maker](https://reader035.vdocuments.pub/reader035/viewer/2022062308/56649d355503460f94a0d3a5/html5/thumbnails/5.jpg)
Robot Implementation 1
![Page 6: Humanoid Robot Project ( 人形機器人 -- 地瓜丸 -- ) 2005/3/24 Li-Wei Wu NCTU-Dream Maker](https://reader035.vdocuments.pub/reader035/viewer/2022062308/56649d355503460f94a0d3a5/html5/thumbnails/6.jpg)
Robot Implementation 2
![Page 7: Humanoid Robot Project ( 人形機器人 -- 地瓜丸 -- ) 2005/3/24 Li-Wei Wu NCTU-Dream Maker](https://reader035.vdocuments.pub/reader035/viewer/2022062308/56649d355503460f94a0d3a5/html5/thumbnails/7.jpg)
Robot Implementation 3
![Page 8: Humanoid Robot Project ( 人形機器人 -- 地瓜丸 -- ) 2005/3/24 Li-Wei Wu NCTU-Dream Maker](https://reader035.vdocuments.pub/reader035/viewer/2022062308/56649d355503460f94a0d3a5/html5/thumbnails/8.jpg)
Robot Implementation 4
![Page 9: Humanoid Robot Project ( 人形機器人 -- 地瓜丸 -- ) 2005/3/24 Li-Wei Wu NCTU-Dream Maker](https://reader035.vdocuments.pub/reader035/viewer/2022062308/56649d355503460f94a0d3a5/html5/thumbnails/9.jpg)
MACRTL-8019AS
RJ 45
HRTP Ethernet Controller
Motor Controller
Motor InterfaceConnectorI2C EEPROM
File System
A/D and SensorInterface
Serial Port
3 cm
Electronic & Controller System 1
•Using Ethernet and Bluetooth cooperation as the communications backbone for the embedded systems of ro
bots
![Page 10: Humanoid Robot Project ( 人形機器人 -- 地瓜丸 -- ) 2005/3/24 Li-Wei Wu NCTU-Dream Maker](https://reader035.vdocuments.pub/reader035/viewer/2022062308/56649d355503460f94a0d3a5/html5/thumbnails/10.jpg)
Electronic System 2
Real-Time Sensor Feedback Module (GYRO, Tile, Accelerometer, FSR )
![Page 11: Humanoid Robot Project ( 人形機器人 -- 地瓜丸 -- ) 2005/3/24 Li-Wei Wu NCTU-Dream Maker](https://reader035.vdocuments.pub/reader035/viewer/2022062308/56649d355503460f94a0d3a5/html5/thumbnails/11.jpg)
Future Research TopicFuture Research Topic
1.Motion control 2.ZMP theory probe3.Gene Motion Generator
Implementation4.For Sound Field Landmark Mode
experiment5.Robot Intelligent Research