Page No

TABLE OF CONTENTS
SUPERVISOR’S STATEMENT ....………………...…………………….................
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APPROVAL………...……………………………...………...………........................
iii
DECLARATION.........................................................................................................
iv
ABSTRACT.........…………………………………………………...….....................
v
ACKNOWLEDGEMENTS....………………………………..……….......................
vi
DEDICATION ...………………….....………………………………........................
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CHAPTER 1: INTRODUCTION
1.1 OVERVIEW…………………………………………………………... 2
1.2 MOTIVATION………………………………………………………... 2
1.3 OBJECTIVES …………………………….…………………………... 2
1.4 OUTLINE …………………………………………………………….. 2
CHAPTER 2: PARTS OF HUMANOID ROBOT
2.1OVERVIEW ……………………………………………………………. 5
2.2 HISTORY OF ROBOT………….……………………………………… 5
2.3 HISTORY OF NEURAL NETWORK………………………………..... 5
2.4 THE ROBOT HARDWARE ...…………….…………………………... 7
2.5 SOFTWARE ………………………………………….………………... 7
2.6 MODULERS ……………………….………………………………… 8
2.6.1 ARDUINO MEGA 2560 …………………………………......... 8
2.6.2 ESP 32 CAM …………………………………………............... 8
2.6.3 MASTER SLAVE COMMUNICATION…………………........ 9
2.6.4 WIRELESS COMMUNICATION MODULE ..……………..... 9
2.6.5 PULSE WIDTH MODULATION …………………………….. 9
2.7 POWERD WALK AND PASSIVE WALK …………….……………… 9
2.8 STATIC BALANCE AND DYNAMIC BALANCE ……………...…… 10
2.9 LIMITATION OF THE STUDY ……………………………………….. 11
2.10 SUMMARY …………………………………………………………… 12

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CHAPTER 3: RELATED WORK
3.1 OVERVIEW …………………………………………….………………. 12
3.2 WABIAN-2R ……………………………………………….…………… 12
3.3 BIPED HUMANOID ROBOT PLATFORM, KHR-2 ………….………. 13
3.4 MAHRU III ……………………………………..………….……………. 14
3.5 SURFACE-PROPERTY RECOGNITION WITH WALKING…………. 15
3.6 ASIMO …………………………………………………………………... 16
3.7 HUBO-2……………………………………………………….…............. 17
3.8 SUMMARY ……………………………………….…………………….. 17
CHAPTER 4: REQUIRENT ANALYSIS
4.1 OVERVIEW ……………………………………………………………... 19
4.2 PARTS OF HUMANOID ROBOT ………………...….……………….... 19
4.3 SERVO MOTOR …….…….…………………………….………………. 19
4.3.1 SPECIFICATION ……….………………………………………... 19
4.3.2 SELECTING YOUR SERVO MOTOR …………..……………… 20
4.3.3 HOW TO USE SERVO MOTOR? ………………...……………... 20
4.3.4 APPLICATION …….…………………………………………….. 21
4.3.5 APPLICATION WITH ARDUINO …….…………….………….. 22
4.4 SERVO CONTROLLER ………………………………………………..... 22
4.4.1 POWER …………………………….……...…………….………... 22
4.4.2 SERVO-POSITION …….…………..……….……….……………. 22
4.4.3 SERVO-SPEED ………………….…….…………….……………. 23
4.5 ARDUINO MEGA 2560…………………………………………………… 24
4.5.1 POWER ………………………………….…………….…………... 25
4.5.2 THE POWER PINS ARE AS FOLLOWS ………….…………...... 25
4.5.3 MEMORY …….……………………...…………….……………… 25
4.5.4 INPUT AND OUTPUT … ………………………….…………….. 25
4.5.5 COMMUNICATION ……………………………….……………... 26
4.6 SENSOR ……………………………….………………………………….. 26
4.6.1 HCSR04 ULTRASONIC SENSOR …… …………..……………... 27
4.6.1.1 HOW ULTRASONIC SENSOR WORK..….…...…………… 27
4.6.1.2 HCSR04 SPECIFICATION ……………………….………… 28

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 4.6.1.3 TIMING CHART AND PIN EXPLANATIONS ……………. 28
4.6.1.4 WIRING THE HCSR04 TO A MICROCONTROLLER ……. 29
4.6.1.5 ERRORS AND BAD READING ……………………………. 30
4.6.2 HC-SR501 PIR MOTION DETECTOR ……………….………….. 30
4.6.2.1 PRODUCT DESCRIPTION ………………….…….………... 30
4.6.2.2 SPECIFICATION ………………………….……….………... 31
4.6.2.3 APPLICATION …………………………………….………… 31
4.6.2.4 FEATURE ………………………………………….………… 31
4.6.2.5 ADJUSTMENT …………………………………….……….... 32
4.6.2.6 APPLICATION SCOPE …....................................................... 33
4.6.2.7 WIRING CONNECTION PIR……………………………….. 33
4.7 ALUMINUM SERVO BRACKETS ……………………………………... 34
4.8 CAMERA …………………..……………………………………………... 37
4.8.1 COMPONENTS REQUIRED ……………………………………. 37
4.8.2 CONNECTIONS………………………………………………….. 37
4.8.3 FEATURES……………………………………………………….. 38
4.9 DISPLAY [LCD TOUCH]………..……………..……………………….. 38
4.10 VOICE RECOGNITION..………………………………………………. 39
4.10.1 PARAMETER ………….………………………..…….………. 39
4.10.2 FEATURE ……………………………………….…………….. 40
4.10.3 TERMINOLOGY …………………….…………….…………. 40
4.11 SOUND AMPLIFIER………..…………………………………………... 41
4.12 IDEAL AMPLIFIER..…….…..………………………………………...... 41
4.13 SUMMARY.………………...………………………………………….... 41
CHAPTER 5: METHODOLOGY
5.1 OVERVIEW ……….…………………………………………………… 44
5.2 DEFINE STRUCTURE OF BODY …………………….………………. 44
5.3 INITIALIZED OF SERVO MOTOR …………..………………………. 44
5.4 METHODOLOGY TOOLS …………………….…………………….… 44
5.5 ROBOT MODELS ……………………………………………………… 44
5.6 WALKING CONTROL ALGORITHM OF HUMANOID ROBOT …... 44
5.6.1 HUMANOID ROBOT PLATFORM …….…………...………… 45

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 5.6.2 WALKING CONTROL ALGORITHM………...………………. 46
5.6.2.1 WALKING PATTERN GENERATION ..…………...……. 46
5.6.2.2 WALKING CONTROL ALGORITHM..…..……………… 50
5.6.3 LANDING TIMING CONTROLLER …..…......…………….….. 51
5.7 SUMMARY ….…………………………………………………………. 52
CHAPTER 6: IMPLEMENTATION AND RESULT
6.1 OVERVIEW…………………………………………………………….. 54
6.2 MECHANICAL DESIGN………………………………………………. 54
6.2.1 DESIGN CONSIDERATION………..…………………………. 54
6.2.2 CONFIGURATION OF LINKS AND JOINTS……..…………. 55
6.2.3 LOWER BODY DESIGN……..……………………................... 55
6.2.3.1 STABILITY ISSUE AND BIPED LOGIC GAIT PHASES 55
6.2.3.2 STRUCTURAL DESIGN…………………………………. 56
6.2.4 UPPER BODY DESIGN………………...…………………….... 56
6.3 ELECTRONICS INTERFACE………………………………………….. 57
6.4 RESULT……………………………………………………………….… 57
6.5 SUMMARY……………………………………………………………... 59
CHAPTER 7: CONCLUSION AND FUTURE WORK
7.1 DISCUSSION…………….……………………………………………... 61
7.2 FUTURE WORK………………………………………………………... 62

REFERENCES........................................................................................ 64-65

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 LIST OF FIGURES

Figure No. Figure Name Page No.

Figure 2.1 ESP32-CAM………………………………………………………… 8

Figure 2.2 Pulse Width Modulation…………………………………………….. 9

Figure 3.1 WABIAN-2R………………………………………………………... 12

Figure 3.2 KHR-2……………………………………………………………….. 13

Figure 3.3 Mahru III…………………………………………………………….. 15

Figure3.4 KNN…………………………………………………………………. 16

Figure 3.5 ASIMO………………………………………………………………. 16

Figure 3.6 HUBO-2……………………………………………………………… 17

Figure 4.1 Signal of Servo Motor………………………………………………… 20

Figure 4.2 MG996R Servo Motor Dimensions…………………………………... 21

Figure 4.3 Metal Gear Construction……………………………………………… 21

Figure 4.4 PCB view for 2Motor & 16 Servo Drive Board……………………… 23

Figure 4.5 Servo Drive Board……………………………………………………. 23

Arduino Mega 2560…………………………………………………...
Figure 4.6 24
Ultrasonic Sensor……………………………………………………...
Figure 4.7 27
Ultrasonic Sensor Work……………………………………………….

Figure 4.8 Timing Diagram………………………………………………………. 27

Figure 4.9 Wiring the HCSR04………………………………………………….... 29

Figure 4.10
PIR Sensor……………………………………………………………. 29
Figure 4.11
30
Figure 4.12 Diagram for hs-sr5001 PIR Sensor……………………………………

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Figure 4.13 Arduino Mega 2560 with PIR sensor……………………………….... 32

Figure4.14 Long U Aluminum servo bracket…………………………………….. 34

Figure 4.15 Sort U Aluminum servo bracket……………………………………… 35

Figure 4.16 Interconnect Aluminum servo bracket………………………………... 35

Figure 4.17 L Shaped Interconnect Aluminum servo bracket…………………….. 35

Figure 4.18 Large U Beam Aluminum servo bracket……………………………... 36

Figure 4.19 Robot Feet Aluminum servo bracket…………………………………. 36

Figure 4.20 ESP32-CAM…………………………………………………………. 36

Figure 4.21 ESP32-CAM signal…………………………………………………… 37

Figure 4.22 LCD display…………………………………………………………... 38

Figure 4.23 Voice Recognition Module V3………………………………………... 39

Figure 4.24 Sound Amplifier……………………………………………………….. 39

Figure 5.1 ANASS………………………………………………………………… 41

Figure 5.2 Walking Cycle…………………………………………………………. 45

Figure 5.3 Forward landing position ratio of the pelvis…………………………... 49

Figure 5.4 Forward landing position ratio of the pelvis…………………………... 49

Figure 5.5 Walking stage…………………………………………………………. 50

Figure 5.6 Schematics of tilt over cases…………………………………………... 50

Figure 6.1 Configuration of Links and Joints……………………………………... 51

Figure 6.2 Electronic Components………………………………………………... 55
Figure 6.3 Face Streaming………………………………………………………... 58
Figure 6.4 Face Detection…………………………………………………………. 58
Figure 6.5 Face Recognition………………………………………………………. 59

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 LIST OF TABLE
Table No. Table Name Page No.
Table 3.1 Degree of freedom and dimention of KHR-2………………………… 14
Table 3.2 Hardware specifications of the Mahru III Humanoid Robot…………. 15
Table 4.1 Define Each Pin………………………………………………………. 23

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