Motion Planning of an Open Source 3D Printed Humanoid Robot

• Main Authors: Huang Jyuan-Yan, 黃俊諺
• Other Authors: JongHann Jean
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/78dw8d

碩士 === 聖約翰科技大學 === 電機工程系碩士班 === 104 === The thesis presents the implementation of an open-source 3D printed humanoid robot, Poppy, which is designed by the Flowers laboratory, 84 cm in height and 3.5 Kg in weight. In particular, a LabVIEW-based graphical user interface is designed for planning of the humanoid walking motion. First, instead of using MX-28 motors originally adopted in the Poppy project, the cheaper AX-12 motors are used to assemble the humanoid robot. Therefore, the 3D CAD tool, Solidworks, is applied to modifying the mechanism of the motor base. Then, the KISSlicer software is used for slicing the 3D printed model and adjusting the printing parameters. For the sake of budget limitation, only the lower limb of the Poppy robot is printed and assembled using two RX-64 motors and eight AX-12 motors. Then, the Solidworks program is utilized to emulate the walking motion of the Poppy robot and analyze its forward kinematic of the lower limb. In addition, a LabVIEW-based graphical user interface is designed to facilitate programming the motion of all motors step by step. Finally, we provide several experimental results to verify the planning of the humanoid walking motion.