| Summary: | 碩士 === 長庚大學 === 機械工程研究所 === 95 === Developments of humanoid robot are focusing on the small size humanoid robots. Due to the challenges of high cost and advanced technical concerns, the building of large size humanoid robots (LSHR) is not popular, especially in Taiwan. In general, the small size humanoid robot uses the RC servo to construct the joints. Such control architectures are simple, and they are easy to plan and synchronize all joint motors. Contrarily, the constructions and controls of LSHR are complicated. Because there existed no popular RC servos for the LSHR, the LSHR builders have to deal with very detailed mechanical and control interfaces of a LSHR with around 20 degrees of control freedoms. To reduce the cost, time and efforts of constructing LSHR, this paper proposed a modular-based approach to construct one degree-of-freedom (DOF) and two DOF humanoid robotic joint modules. The proposed joint modules are constructed based on uniform mechanical interface when the same torque is surveyed. The position servo controller is also developed to control the joint angles of the LSHR. The synchronous operations of HRJM are established using the serial based intra-communication protocol that is defined in this paper. In this manner, the proposed HRJM behaves similar roles with the RC servo, while the HRJM provides larger torques and more flexible control laws. In addition to the development of the HRJM, a multiple-joint synchronization controller is also developed to coordinate the motion patterns of individual HRJM. Finally, a real 19 DOF LSHR with 175 cm in height and 75 kg in weight (excluding batteries). In addition to the implementations of the robot body and control system, this paper also demonstrates the experiments of walking.
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