Presented By: Som Mishra

(Electronics & Communication Engineering)

3rd Year

BIET Jhansi

Under Guidance Of:

Dr. D.K.Srivastava

(Associate Professor)Deptt. Of Electronics & Comm.

Engg.

BIET Jhansi

HUMANOID ROBOT

CONTENTS

1. Introduction

2. Purpose

3. Sensors

4. Actuators

5. Wheeled Humanoid Robot

6. Biped Humanoid Robot

7. Advantages

8. Disadvantages

9. Conclusion

10. References

INTRODUCTION

A humanoid robot is a robot that resembles human both in appearance and behavior.

In general, humanoid robots have a torso, a head, two arms, and two legs.

Leonardo da Vinci designed and built the first known humanoid robot in 1495.

PURPOSE

Initial aim of humanoid research was to build better orthosis and prosthesis for human beings.

Humanoid robots with artificial intelligence algorithms could be useful for distant space exploration missions.

Humanoid robots are being developed to perform dangerous jobs and other human tasks like personal assistance etc.

SENSORS

Proprioceptive Sensors :- It senses the position, the orientation and the speed of the humanoid's body and

joints.

Humanoid robots uses –

Accelerometers → To measure the acceleration.

Tilt Sensors → To measure inclination.

Force Sensors → To measure contact force with environment.

Position Sensors → To indicate the actual position of robot.

SENSORS

Exteroceptive Sensors :- It measures the proximity of objects in relation to the robot’s frame of

reference. Humanoid robots uses –

Tactile Sensors → It provides data on what has been touched.

Vision Sensors → Recognizes objects and determines their properties.

Sound Sensors → To hear speech and environmental sound.

ACTUATORS

These are the motors responsible for motion in the robot. Mainly rotary actuators are employed in humanoid robots. They can either be electric, pneumatic, hydraulic, piezoelectric or

ultrasonic. Hydraulic and electric actuators have a very rigid behavior and are used

with complex feedback control strategies. Electric actuators operates well at  high speed and low load applications

while hydraulic actuators operates well at low speed and high load applications.

ACTUATORS

Piezoelectric actuators generate a small movement with a high force capability when voltage is applied.

They can be used for ultra-precise positioning and for generating and handling high forces or pressures in static or dynamic situations.

Ultrasonic actuators are designed to produce movements in a micrometer order at ultrasonic frequencies i.e. over 20 kHz.

They are useful for controlling vibration, positioning applications and quick switching.

Pneumatic actuators operate on the basis of gas compressibility and are designed for low speed and low or medium load applications.

WHEELED HUMANOID ROBOT

ADVANTAGES Easy Locomotion

Easy Design

Higher Speed

Easy Control

DISADVANTAGES Need to modify the surrounding.

Movement is possible only on flat floors.

BIPED HUMANOID ROBOT

ADVANTAGES No need to change the surrounding.

Exactly human like structure.

Can move on any type of floor.

Capable of climbing stairs.

DISADVANTAGES Difficult locomotion.

Complex design.

Low speed.

Complex control.

ADVANTAGES

Never Complains. Can perform tasks faster, accurately, effectively and efficiently than

humans. Can work 24/7 without salary and food. Can perform exhaustive and repetitive jobs without getting bored. Can be used in research and rescue operations and for surveillance

purposes. Can also be used for entertainment purposes.

DISADVANTAGES

Have no emotions. Need high power supply for operating. Need regular maintenance. High cost of manufacture. Not fully reliable or trustworthy.

CONCLUSION

The majority of robots today, solve comfort problems but there are exceptions.

Robotics is still very costly and it requires a lot more research and users to bring down the costs to a decent level.

As the technology improves, there will be new ways to use robots which will bring new hopes and new potentials.

REFERENCES

K. Hirai,M. Hirose,Y. Haikawa and T. Takenaka,”The Development of Humanoid Robot”, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1321-1326, 1998.

http://en.wikipedia.org/wiki/Humanoid_robot.

Brady, M., Holler Bach, J.M., Johnson, T., Lozano-Perez, T. and Mason, M. (1982), Robot Motion: Planning and Control. MIT Press.

Russell, R. A. (1990). Robot Tactile Sensing. Prentice Hall.

Everett, H. R. (1995). Sensors for Mobile Robots: Theory and Application. AK Peters.

Craig, J. J. (1986). Introduction to Robotics: Mechanics and Control. Addison Wesley.

THANK YOU