Design and Fabrication of Humanoid Robot to Attain Human-Like Movements

Abstract

This thesis paper analyze the flexibility of humanoid robot structure design based on design parameters of degree of freedoms and joint angle range characteristic. As a result it helps to identify elements that provide flexibility for humanoid robots to attain human-like motion. Description and correlation of physical structure flexibility between human and humanoid robot to perform motion is presented to clarify the elements. This analysis utilized the joint structure design, configuration of degree of freedoms and joint rotation range of a 17-dof humanoid robot. Experiments utilizing this robot were conducted, with results indicates effective design parameters to attain flexibility in human-like motion. After the emergence of Wabot from Waseda University in 1973, few full-sized humanoid robots have been developed around the world that can walk, and run. Even though various humanoids have successfully demonstrated their capabilities, bipedal walking methods are still one of the main technical challenges that robotics researchers are trying to solve. Constructing a full sized humanoid robot is still challenging because most bipedal walking methods, including ZMP (Zero Moment Point) require fast sensor feedback and also fast and precise control of actuators. For this reason, only a small number of research groups have the ability to create full-sized humanoid robots that can walk and run.