View metadata, citation and similar papers at core.ac.uk brought to you by CORE provided by Middlesex University Research Repository A Robot Operating System (ROS) Based Humanoid Robot Control Ganesh Kumar Kalyani A Thesis submitted to Middlesex University in fulfillment of the requirements for degree of MASTER OF SCIENCE Department of Design Engineering & Mathematics Middlesex University, London Supervisors Dr. Vaibhav Gandhi Dr. Zhijun Yang November 2016 Tables of Contents Table of Contents…………………………………………………………………………………….II List of Figures…………………………………………………………………………………….….IV List of Tables………………………………………………………………………………….……...V Acknowledgement…………………………………………………………………………………...VI Abstract……………………………………………………………………………………………..VII List of Acronyms and Abbreviations……………………………………………………………..VIII 1. Introduction .................................................................................................................................. 1 1.1 Introduction ............................................................................................................................ 1 1.2 Rationale ................................................................................................................................. 6 1.3 Aim and Objective ................................................................................................................... 7 1.4 Outline of the Thesis ............................................................................................................... 8 2. Literature Review ...................................................................................................................... 10 2.1 Basics of Robotics .................................................................................................................. 10 2.1.1 Historical Development ................................................................................................ 10 2.1.2 Structural components ................................................................................................. 11 2.2 Control of Robot Functions ................................................................................................... 13 2.2.1 Remotely controlling a robot ........................................................................................ 13 2.2.2 Semi-Autonomous Control ........................................................................................... 13 2.2.3 Autonomous Control ..................................................................................................... 14 2.3 Decision-making & Implementing Mechanism ..................................................................... 14 2.3.1 Electronic components ................................................................................................. 14 2.3.2 Programming Essentials ................................................................................................ 18 2.3.3 Python Language ........................................................................................................... 19 2.3.4 Decision-making and Enforcing Technique ................................................................... 20 2.3.5 Control Architecture ..................................................................................................... 21 2.4 Robot Operating System (ROS) ............................................................................................. 22 2.4.1 Different Operating Systems ......................................................................................... 22 2.4.2 Robot Operating System ............................................................................................... 23 2.5 Requirements of Walking Biped Humanoid Robots ............................................................. 27 2.5.1 Generic Features ........................................................................................................... 27 II 2.5.2 Essential Functions ........................................................................................................ 30 2.6 Conclusion ............................................................................................................................. 40 3. Integrating Experimental Robots ........................................................................................... 42 3.1 Advanced Multifunctional Quadruped BeagleBone Black Robot ......................................... 42 3.1.1 Developments in Robotic Research .............................................................................. 42 3.2 Advanced Biped Bioloid Humanoid Robot ............................................................................ 43 3.2.1 BeagleBone Black as ‘Deciding and Enforcing Component’ ......................................... 43 3.2.2 Features of Bioloid Premium Humanoid Robot (BPHR) ................................................ 44 3.2.3 Controller of BPHR ........................................................................................................ 46 3.3 Replacing the Deciding and Enforcing Components ............................................................. 47 4. Experimental Procedure and Results..................................................................................... 49 4.1 Adaption Strategy ................................................................................................................. 49 4.2 Assembling the revised Humanoid Robot ............................................................................. 50 4.3 Humanoid Robot’s Dynamic Walking Algorithm .................................................................. 51 4.3.1 Evolving Dynamic Stable Humanoid Robot Walking ..................................................... 52 4.3.2 Stability Analysis............................................................................................................ 54 4.4 Design and connections of components for the desired walking pattern............................ 55 4.4.1 Configuration of BBB ..................................................................................................... 55 4.4.2 Dynamixel AX-12A servo actuators ............................................................................... 55 4.4.3 USB2dynamixel connector ............................................................................................ 56 4.4.4 Infrared Sensor .............................................................................................................. 56 4.4.5 Accelerometer ............................................................................................................... 56 4.4.6 Wi-Fi-Adapter ................................................................................................................ 56 4.5 Walking procedure of the robot ........................................................................................... 56 4.6 Walking strategy of the robot ............................................................................................... 58 5. Conclusion and Future Directions .......................................................................................... 61 REFERENCES .......................................................................................................................... 64 APPENDIX A .......................................................................................................................... 72 III LIST OF FIGURES Figure 1: Structural Components of a Humanoid Robot. ..................................................................... 11 Figure 2: Heavy Robot Arduous Jobs .................................................................................................... 16 Figure 3: Types of Motor Controllers .................................................................................................... 17 Figure 4: Two PCs with Other Controllers ............................................................................................. 18 Figure 5: BeagleBone Black Mounted on a Four-Legged Vehicle ......................................................... 43 Figure 6: Schematic Parts of Humanoid Robot ..................................................................................... 48 Figure 7: BeagleBone Black Robot’s Component .................................................................................. 51 Figure 8: Flowchart Indicating Control of Robot Movement ................................................................ 52 Figure 9: Sagittal View for Walking Pattern .......................................................................................... 53 Figure 10: Schematics of Landing Position Control ............................................................................... 53 Figure 11: Figure showing the BBB, AX-12A motors, USB2Dynamixel connector, Wi-Fi Adapter, IR Sensor and the Gyro+Accelerometer sensor used in the experiment.................................................. 55 Figure 12: Actual motor positions showing (a) Posterior view (b) Anterior view................................. 57 Figure 13: Physical connections of the USB2Dynamixel with the BBB ................................................. 57 Figure 14: Schematic Parts of Humanoid Robot showing the motor positions for Yaw, Pitch and Roll motors. .................................................................................................................................................. 58 Figure 15: The rqt graph of the connections during