II LITERATURE
REVIEW 2.1 Introduction
5
2.2 The Honda Humanoid
6 2.3 Preamble
7
2.4 Human Characteristics
9
2.5 Design Specifications
10
III METHODOLOGY
3.1 Introduction 13
3.2 Methodology 14
3.3 Gait Analysis
16
3.4 The Kinematics
17 3.5 Kinetics
17 3.6 Hardware
18 3.6.1 Lego
18 3.6.2 RCX
19 3.6.3 IR
20 3.6.4 Gear
20
3.6.5 Sensor 21
3.6.6 Motor 23
3.7 Software
3.7.1 NQC Programming
24
IV RESULTS AND DISCUSSION
4.1 Introduction 25
4.2 Base Construction
25
4.3 Legs Construction
28
4.4 Body Construction
32
4.5 Combining Part
34
4.6 Software Implementation
39
4.6.1 Code Programming
39 4.7
Discussion 43
4.7.1 Movement of the Robot 43
4.7.2 Programming of the Robot 44
V CONCLUSION AND SUGGESTION
5.1 Conclusion 46
5.2 Suggestion 47
REFERENCES 48
APPENDIX 49
LIST OF FIGURES
NO. TITLE
PAGES
2.1 Front and Side view of P2 and P3
6 2.2
Preamble robot 8
2.3 Rotation
sensors 9
2.4 Bipedal locomotion and humanoid
robots. 9
3.1 Flow
chart of
create robot
14 3.2
Draft of
the robot
15 3.3
A sample sequence of the silhouette of a walking 16
3.4 Lego’s
Logo 18
3.5 The
RCX Controller
19 3.6
IR Tower
20 3.7
Gears 20
3.8 Touch
Sensor 22
3.9 Light
Sensor 22
4.1 One of the robot’s legs motor and gears usage
26 4.2
Robot’s legs motor and gears usage 27
4.3 Firm
the connection
27 4.4
Bases completed
28
NO. TITLE
PAGES
4.5 The
view of
the robot’s
legs 29
4.6 The right view of robot’s legs
29 4.7
The left view of robot’s legs 30
4.8 The
gear usage 31
4.9 The
ratio of
gear 31
4.10 Part
of robot’s
body 32
4.11 The
Bevel gear
Usage 33
4.12 The
Crown and
8-Teeth gear
33 4.13
Robot with
body part
34 4.14
The front
view of
robot 35 4.15
The side
view of
robot 36 4.16
The completed
robot 37
4.17 The front view of completed robot
38 4.18
Compiling process
39 4.19
Program with
error 40
4.20 No error program for Controller A
41 4.21
Process to download the program to RCX 42
LIST OF TABLE
NO. TITLE
PAGES
3.1 Properties of the LEGO Technics Motors 23
LIST OF ABBREVIATIONS
NQC - Not Quite
C IR
- Infrared
DC -
Direct Current CoG
- Center of Gravity
CHAPTER I
INTRODUCTION OF PROJECT
1.1 Introduction
Robot is a machine whose behavior can be programmed. Basically, robots have five fundamental components such as a brain to controls the robot’s action and respond
to sensory input, a robot’s body is simply the physical chassis that hold the other pieces of the robot together, actuators motor to allow the robot to move, sensors to give a
robot information about its environment and a power source supplies to run the brain, actuators and sensors.
This project is basically a development on humanoid robot where the robot is capable walking properly as a human. Designing the kinematics that describes the
motion of objects without consideration of the circumstances leading to the motion and programming of a full-fledge humanoid robot. The system will be developed using a
minimum 3 sets of LEGO Mindstorms. The set comes with a robot brain controller
called the RCX Robotic Command Explorer. It has three input ports, three output ports, four push-buttons and an infrared IR serial communication interface. The robot
is using sensors and motors as detector and for the robot’s movement. The movement of the robot will be control by the LEGO Mindstroms bricks. The programming language
that will be used is Not Quite C NQC.
1.2 Objectives