A Hands-On Approach to Humanoid Robots Education

Jacky Baltes, Reinhard Gerndt*, Soroush Sadeghnejad, Saeed Saeedvand, Yu Hsiang Sun, Kuo Yang Tu

*此作品的通信作者

研究成果: 書貢獻/報告類型會議論文篇章

摘要

This paper describes a novel approach to introduce early undergraduate and high schools to humanoid robotics. Instead of building a full humanoid robot, we start with the construction of a single leg, and analyze its kinematic and dynamic behavior. The approach is heavily based on writing various programs to solve and visualize the domains. We introduce and derive fundamental principles of the forward and inverse kinematics of a humanoid robot. The inverse kinematics are approximated using the Jacobian pseudo-inverse method. The control of the motion of a robot is introduced using the versatile PID controller. We designed two new challenge problems to motivate students with our exposition. First, a marble maze game is mounted on the leg and using their understanding of the kinematics, students implement a program to roll the ball from the start to the goal area. Secondly, we implement 1D and 2D ball balancing challenges for a ball on a plane. The paper finishes by introducing a set of modern web technologies that can be used to implement portable and efficient real-time control and simulation of robot systems.

原文英語
主出版物標題2023 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2023
發行者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子)9798350302714
DOIs
出版狀態已發佈 - 2023
事件2023 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2023 - Taipei, 臺灣
持續時間: 2023 8月 302023 9月 1

出版系列

名字International Conference on Advanced Robotics and Intelligent Systems, ARIS
2023-August
ISSN(列印)2374-3255
ISSN(電子)2572-6919

會議

會議2023 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2023
國家/地區臺灣
城市Taipei
期間2023/08/302023/09/01

ASJC Scopus subject areas

  • 控制與系統工程
  • 人工智慧

指紋

深入研究「A Hands-On Approach to Humanoid Robots Education」主題。共同形成了獨特的指紋。

引用此