Humanoid Robot ProjHumanoid Robot Projectect

(( 人形機器人人形機器人 ---- 地瓜丸地瓜丸 -- )-- )

2005/3/242005/3/24Li-Wei WuLi-Wei Wu

NCTU-Dream MaNCTU-Dream Makerker

Fig.2 地瓜丸 robot 步行 ( 背面 )Fig.1 地瓜丸 robot 步行 ( 正面 )

Mechanical Design 1

Fig3 地瓜丸 robot 揮手 Fig4 地瓜丸 robot 出拳

Mechanical Design 2

設計過程 & 系統模擬

Robot Implementation 1

Robot Implementation 2

Robot Implementation 3

Robot Implementation 4

MACRTL-8019AS

RJ 45

HRTP Ethernet Controller

Motor Controller

Motor InterfaceConnectorI2C EEPROM

File System

A/D and SensorInterface

Serial Port

3 cm

Electronic & Controller System 1

•Using Ethernet and Bluetooth cooperation as the communications backbone for the embedded systems of ro

bots

Electronic System 2

Real-Time Sensor Feedback Module (GYRO, Tile, Accelerometer, FSR )

Future Research TopicFuture Research Topic

1.Motion control 2.ZMP theory probe3.Gene Motion Generator

Implementation4.For Sound Field Landmark Mode

experiment5.Robot Intelligent Research