Designing of a 25 degree-of-freedom humanoid robot

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Supervisor:
Dr. Stumpf Péter Pál
Department of Automation and Applied Informatics

The idea of Daniel, the humanoid robot, was born in 2014. I wanted to create a unique, self-designed humanoid robot for research purposes. My primary aim was to satisfy all kinds of research goals and consequently, to have many degrees of freedom in order to be used in complex experiments and tasks.

After three years planning, developing and manufacturing my humanoid robot is almost done. It is approximately 70 cm tall, 6 kg weight and it has 25 degrees of freedom. His skeleton made of unique aluminum with several bearings.

In Daniel’s stomach, there is an ARM-based computer with FPGA and a self-designed circuit which controls the power supply, actuators and sensors as well. Every calculation, sensing, and control is on board. In this way, the robot can act autonomously.

I created a framework for the robot which consists of easy-to-use modules and functions. We can use them universally.

During the construction of Daniel, the humanoid robot, I tried to choose an appropriate research field. I wanted to work on a project which is actual and presents a real challenge. That is why I chose dynamic balancing as a pilot project.

The active dynamic balancing is really important for humanoid robots which is still not a trivial problem. Daniel tries to balance himself like a human against the side impacts with a PID control based on the differential equations of motion derived from a simplified dynamics model. In my final project report, I describe the practical considerations and the fundamental principles of balancing on one leg. Later, I would like to use these experiences to create a dynamic walking algorithm.

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