Humanoid Robot Pro Humanoid Robot Pro ject ject ( ( 人人人人人 人人人人人 -- -- 人人人 人人人 -- ) -- ) 2005/3/24 2005/3/24 Li-Wei Wu Li-Wei Wu NCTU-Dream Make NCTU-Dream Make r r
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