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Complete Low-Cost Implementation of a Teleoperated Control System for a Humanoid Robot
Department of Automation and Industrial Control, National Polytechnic, EC170135 Quito, Ecuador
Department of Electronics, University of Alcalá, Alcalá de Henares, E-28871 Madrid, Spain
* Author to whom correspondence should be addressed.
Received: 30 November 2012; in revised form: 24 December 2012 / Accepted: 17 January 2013 / Published: 24 January 2013
Abstract: Humanoid robotics is a field of a great research interest nowadays. This work implements a low-cost teleoperated system to control a humanoid robot, as a first step for further development and study of human motion and walking. A human suit is built, consisting of 8 sensors, 6 resistive linear potentiometers on the lower extremities and 2 digital accelerometers for the arms. The goal is to replicate the suit movements in a small humanoid robot. The data from the sensors is wirelessly transmitted via two ZigBee RF configurable modules installed on each device: the robot and the suit. Replicating the suit movements requires a robot stability control module to prevent falling down while executing different actions involving knees flexion. This is carried out via a feedback control system with an accelerometer placed on the robot’s back. The measurement from this sensor is filtered using Kalman. In addition, a two input fuzzy algorithm controlling five servo motors regulates the robot balance. The humanoid robot is controlled by a medium capacity processor and a low computational cost is achieved for executing the different algorithms. Both hardware and software of the system are based on open platforms. The successful experiments carried out validate the implementation of the proposed teleoperated system.
Keywords: low-cost; teleoperation system; humanoid robot; MechRc; Arduino Fio; ZigBee RF; Kalman filter; fuzzy balance control
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Cela, A.; Yebes, J.J.; Arroyo, R.; Bergasa, L.M.; Barea, R.; López, E. Complete Low-Cost Implementation of a Teleoperated Control System for a Humanoid Robot. Sensors 2013, 13, 1385-1401.
Cela A, Yebes JJ, Arroyo R, Bergasa LM, Barea R, López E. Complete Low-Cost Implementation of a Teleoperated Control System for a Humanoid Robot. Sensors. 2013; 13(2):1385-1401.
Cela, Andrés; Yebes, J. J.; Arroyo, Roberto; Bergasa, Luis M.; Barea, Rafael; López, Elena. 2013. "Complete Low-Cost Implementation of a Teleoperated Control System for a Humanoid Robot." Sensors 13, no. 2: 1385-1401.