Complete Low-Cost Implementation of a Teleoperated Control System for a Humanoid Robot

Sensors

Andrés Cela²  J. Javier Yebes¹  Roberto Arroyo¹  Luis M. Bergasa¹  Rafael Barea¹ 

[1] Department of Electronics, University of Alcalá, Alcalá de Henares, E-28871 Madrid, Spain;E-Mails:;Department of Automation and Industrial Control, National Polytechnic, EC170135 Quito, Ecuador; E-Mail:

关键词: low-cost;    teleoperation system;    humanoid robot;    MechRc;    Arduino Fio;    ZigBee RF;    Kalman filter;    fuzzy balance control;   

DOI  :  10.3390/s130201385

来源: mdpi

【 摘 要 】

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.

【 授权许可】

CC BY   
© 2013 by the authors; licensee MDPI, Basel, Switzerland.