Complete Low-Cost Implementation of a Teleoperated Control System for a Humanoid Robot
Complete Low-Cost Implementation of a Teleoperated Control System for a Humanoid Robot
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DOI：
10.3390/s130201385
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发表时间：
2013-02-01
期刊：
影响因子：
3.9
通讯作者：
Lopez, Elena
中科院分区：
文献类型：
--
作者：
Cela, Andres;Javier Yebes, J.;Lopez, Elena
仿人机器人是当今一个很有研究意义的领域。本工作实现了一个低成本的遥操作系统来控制人形机器人，作为进一步开发和研究人类运动和行走的第一步。制作了一套人体套装，包括8个传感器，6个安装在肢体上的阻性线性电位器和2个手臂上的数字加速度计。其目标是在一个小型类人机器人中复制西装动作。来自传感器的数据通过安装在每个设备上的两个ZigBee射频可配置模块进行无线传输：机器人和套装。复制套装动作需要机器人稳定性控制模块，以防止在执行涉及膝盖屈曲的不同动作时摔倒。这是通过反馈控制系统进行的，在机器人的背部放置一个加速度计。该传感器的测量结果使用卡尔曼滤波。此外，控制五个伺服电机的双输入模糊算法调节了机器人的平衡。该仿人机器人由中等容量的处理器控制，实现了执行不同算法的低计算成本。系统的硬件和软件都是基于开放平台的。成功的实验验证了所提出的遥操作系统的实现。
Humanoid robotics is a field of a great research interest nowadays. This work implements a low-cost teleoperated system to control a humanoid robot, as a first step for further development and study of human motion and walking. A human suit is built, consisting of 8 sensors, 6 resistive linear potentiometers on the lower extremities and 2 digital accelerometers for the arms. The goal is to replicate the suit movements in a small humanoid robot. The data from the sensors is wirelessly transmitted via two ZigBee RF configurable modules installed on each device: the robot and the suit. Replicating the suit movements requires a robot stability control module to prevent falling down while executing different actions involving knees flexion. This is carried out via a feedback control system with an accelerometer placed on the robot's back. The measurement from this sensor is filtered using Kalman. In addition, a two input fuzzy algorithm controlling five servo motors regulates the robot balance. The humanoid robot is controlled by a medium capacity processor and a low computational cost is achieved for executing the different algorithms. Both hardware and software of the system are based on open platforms. The successful experiments carried out validate the implementation of the proposed teleoperated system.