Introduction 13 Methodology 14 Software Introduction 25 Conclusion 46 Suggestion 47 Introduction

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