Development of modular-based large size humanoid robots

The humanoid robot is a fast growing research field. Humanoid robots are interdisciplinary studies of engineering related techniques such as mechanical design, electrical driving, and soft-computing based intelligent sensing, reasoning and control. Currently, developments of humanoid robots are focusing on small size humanoid robots. Due to 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 to synchronize all joint motors. Contrarily, 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 humanoid robotic joint modules (HRJM). The proposed joint modules are constructed based on uniform mechanical interface when the same torque is surveyed. In addition, the position servo controller is also developed to control the joint angles of the LSHR. In this manner, the proposed HRJM behaves similar roles with the RC servo, while the HRJM provides larger torques and higher control performance. In addition to the development of the HRJM, a multiple-joint synchronization controller is also developed to coordinate the motion patterns of individual HRJM. Furthermore, a PC based gait training program is also developed to train various motions. Finally, a 19 DOF LSHR with 175 cm in height and 70 kg in weight (excluding batteries) was built in laboratory based on the proposed architecture, named DCA-LSHR-V1. In addition to the implementations of the robot body and control system, this paper also demonstrates the first trial of walking.