Politecnico di Torino (logo)

modelling and simulation of wheeled biped robot

Mounif Tiba

modelling and simulation of wheeled biped robot.

Rel. Luigi Mazza, Giovanni Gerardo Muscolo. Politecnico di Torino, Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica), 2021

PDF (Tesi_di_laurea) - Tesi
Licenza: Creative Commons Attribution Non-commercial No Derivatives.

Download (1MB) | Preview
[img] Archive (ZIP) (Documenti_allegati) - Other
Licenza: Creative Commons Attribution Non-commercial No Derivatives.

Download (4MB)

As an important basic component of humanoid robots, mechanical legs provide the robots with excellent manoeuvrability and versatility, which determine the core application performance such as job adaptability, walking speed, and load capacity. On this basis, the author summarize and study the design methods of the actuators and mechanical leg structures. Finally, some suggestions for the development of such robots in the future are mentioned. The motivation of this review is to provide useful guidance for future robotic designers to develop more efficient mechanical legs of humanoid biped robots. The synthesis of human motion is a complex procedure that involves accurate reconstruction of movement sequences, modelling of kinematics, dynamics and actuation, and characterization of reliable performance criteria. Many of these processes have much in common with the problems found in robotics research, with the recent advent of complex humanoid systems. This work presents the design and development of a new-generation bipedal robot. Its modelling and simulation have been realized by using a software to create and analyse dynamic simulation of movement. And it has been designed on a CAD software. Taking into consideration that this topic has been conceived before. The model aims to be used as an innovative approach to the study of a such type of humanoid robot, ROLLO, which is based on the implementation of a passive flexible structure constituting the robotic legs, and of wheeled feet. The unconventional use of the cylindrical helical springs in the flexible structure of the legs allows obtaining a biped robot able to achieve an alternate leg motion having only two active motors and remaining in a standing position also when the motors are not active. This developed model allows to study its movement by experiments that have been mainly addressed to analyze the behavior of the servomotor connected to the wheels axle of each leg by controlling the angular position and angular velocity using PID Controller to achieve the desired motion of the wheels. Taking into account that the robot is conceived for usage in domestic environments and consequently improve the design of motion and balance controller in the real robot. The paper presents a creative design approach focused at simplifying the control of biped humanoid robots’ locomotion in a domestic scenario. In this case, the swiftness and robustness of the wheeled locomotion could be considered as a good alternative for the robot feet design.

Relators: Luigi Mazza, Giovanni Gerardo Muscolo
Academic year: 2021/22
Publication type: Electronic
Number of Pages: 58
Corso di laurea: Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica)
Classe di laurea: New organization > Master science > LM-25 - AUTOMATION ENGINEERING
Aziende collaboratrici: UNSPECIFIED
URI: http://webthesis.biblio.polito.it/id/eprint/21144
Modify record (reserved for operators) Modify record (reserved for operators)