Humanoid robot

Humanoid robot

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  Presented By: SomMishra (Electronics & Communication Engineering) 3rd Year BIET Jhansi Under Guidance Of: Dr. D.K.Srivastava (Associate Professor) Deptt. Of Electronics & Comm. Engg. BIET Jhansi
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  CONTENTS 1. Introduction 2. Purpose 3.Sensors 4. Actuators 5. Wheeled Humanoid Robot 6. Biped Humanoid Robot 7. Advantages 8. Disadvantages 9. Conclusion 10. References
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  INTRODUCTION  A humanoidrobot is a robot that resembles human both in appearance and behavior.  In general, humanoid robots have a torso, a head, two arms, and two legs.  Leonardo da Vinci designed and built the first known humanoid robot in 1495.
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  PURPOSE  Initial aimof humanoid research was to build better orthosis and prosthesis for human beings.  Humanoid robots with artificial intelligence algorithms could be useful for distant space exploration missions.  Humanoid robots are being developed to perform dangerous jobs and other human tasks like personal assistance etc.
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  SENSORS Proprioceptive Sensors :- It senses the position, the orientation and the speed of the humanoid's body and joints.  Humanoid robots uses –  Accelerometers → To measure the acceleration.  Tilt Sensors → To measure inclination.  Force Sensors → To measure contact force with environment.  Position Sensors → To indicate the actual position of robot.
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  SENSORS Exteroceptive Sensors :- It measures the proximity of objects in relation to the robot’s frame of reference.  Humanoid robots uses – Tactile Sensors → It provides data on what has been touched. Vision Sensors → Recognizes objects and determines their properties. Sound Sensors → To hear speech and environmental sound.
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  ACTUATORS  These arethe motors responsible for motion in the robot.  Mainly rotary actuators are employed in humanoid robots.  They can either be electric, pneumatic, hydraulic, piezoelectric or ultrasonic.  Hydraulic and electric actuators have a very rigid behavior and are used with complex feedback control strategies.  Electric actuators operates well at high speed and low load applications while hydraulic actuators operates well at low speed and high load applications.
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  ACTUATORS  Piezoelectric actuatorsgenerate a small movement with a high force capability when voltage is applied.  They can be used for ultra-precise positioning and for generating and handling high forces or pressures in static or dynamic situations.  Ultrasonic actuators are designed to produce movements in a micrometer order at ultrasonic frequencies i.e. over 20 kHz.  They are useful for controlling vibration, positioning applications and quick switching.  Pneumatic actuators operate on the basis of gas compressibility and are designed for low speed and low or medium load applications.
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  WHEELED HUMANOID ROBOT ADVANTAGES  Easy Locomotion  Easy Design  Higher Speed  Easy Control  DISADVANTAGES  Need to modify the surrounding.  Movement is possible only on flat floors.
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  BIPED HUMANOID ROBOT ADVANTAGES  No need to change the surrounding.  Exactly human like structure.  Can move on any type of floor.  Capable of climbing stairs.  DISADVANTAGES  Difficult locomotion.  Complex design.  Low speed.  Complex control.
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  ADVANTAGES  Never Complains. Can perform tasks faster, accurately, effectively and efficiently than humans.  Can work 24/7 without salary and food.  Can perform exhaustive and repetitive jobs without getting bored.  Can be used in research and rescue operations and for surveillance purposes.  Can also be used for entertainment purposes.
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  DISADVANTAGES  Have noemotions.  Need high power supply for operating.  Need regular maintenance.  High cost of manufacture.  Not fully reliable or trustworthy.
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  CONCLUSION  The majorityof robots today, solve comfort problems but there are exceptions.  Robotics is still very costly and it requires a lot more research and users to bring down the costs to a decent level.  As the technology improves, there will be new ways to use robots which will bring new hopes and new potentials.
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  REFERENCES  K. Hirai,M.Hirose,Y. Haikawa and T. Takenaka,”The Development of Humanoid Robot”, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1321-1326, 1998.  http://en.wikipedia.org/wiki/Humanoid_robot.  Brady, M., Holler Bach, J.M., Johnson, T., Lozano-Perez, T. and Mason, M. (1982), Robot Motion: Planning and Control. MIT Press.  Russell, R. A. (1990). Robot Tactile Sensing. Prentice Hall.  Everett, H. R. (1995). Sensors for Mobile Robots: Theory and Application. AK Peters.  Craig, J. J. (1986). Introduction to Robotics: Mechanics and Control. Addison Wesley.