Cost oriented automation approach to upper body humanoid robot

J. Baltes, C. T. Cheng, Mc Lau, J. Anderson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

To develop an efficient robotic system is always a challenge, in particular if the cost of the system is also an important factor. This paper presents an overview of development of our 10 degree of freedom humanoid, Betty. Reducing the cost of the system requires optimization of all aspects to retain its flexibility, reliability and performance at minimum cost. During the design and development of Betty, we only use low cost hardware and open source software to address both cost and performance issues. We develop a real-time kernel optimized to control servo positions and read back servo data. Parameters of this kernel are controlled by a PID controller resulting in an adaptive real-time kernel. After solving the forward and inverse kinematics of our robot, we implemented portrait drawing as a sample application showing the performance of our system.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Pages12674-12679
Number of pages6
Volume18
EditionPART 1
DOIs
Publication statusPublished - 2011
Externally publishedYes
Event18th IFAC World Congress - Milano
Duration: 28 Aug 20112 Sep 2011

Other

Other18th IFAC World Congress
CityMilano
Period28/8/112/9/11

Fingerprint

Automation
Robots
Costs
Inverse kinematics
Computer hardware
Robotics
Controllers

Keywords

  • Inverse and forward kinematics
  • PID
  • Portrait drawing
  • Real-time Embedded System
  • Simulation

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Baltes, J., Cheng, C. T., Lau, M., & Anderson, J. (2011). Cost oriented automation approach to upper body humanoid robot. In IFAC Proceedings Volumes (IFAC-PapersOnline) (PART 1 ed., Vol. 18, pp. 12674-12679) https://doi.org/10.3182/20110828-6-IT-1002.01670

Cost oriented automation approach to upper body humanoid robot. / Baltes, J.; Cheng, C. T.; Lau, Mc; Anderson, J.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 18 PART 1. ed. 2011. p. 12674-12679.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Baltes, J, Cheng, CT, Lau, M & Anderson, J 2011, Cost oriented automation approach to upper body humanoid robot. in IFAC Proceedings Volumes (IFAC-PapersOnline). PART 1 edn, vol. 18, pp. 12674-12679, 18th IFAC World Congress, Milano, 28/8/11. https://doi.org/10.3182/20110828-6-IT-1002.01670
Baltes J, Cheng CT, Lau M, Anderson J. Cost oriented automation approach to upper body humanoid robot. In IFAC Proceedings Volumes (IFAC-PapersOnline). PART 1 ed. Vol. 18. 2011. p. 12674-12679 https://doi.org/10.3182/20110828-6-IT-1002.01670
Baltes, J. ; Cheng, C. T. ; Lau, Mc ; Anderson, J. / Cost oriented automation approach to upper body humanoid robot. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 18 PART 1. ed. 2011. pp. 12674-12679
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