Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings

The present work shows the design of a mechatronic system, which emulates the movements of the human neck, as it will support the head of a humanoid robot (Arthur) developed by Hanson Robotics. The mechanical design is based on a spherical robot of 3 degrees of freedom (3-GDL), the dynamic model is...

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Authors: López Cortés, Francisco José, Vergara Limón, Sergio, Vargas Treviño, María Aurora Diozcora, Palomino Merina, Amparo Dora, Pinto Avedaño, David Eduardo, Vilariño Ayala, Darnes
Format: article
Status:Published version
Publication Date:2019
Country:México
Institution:Universidad Autónoma de Baja California Sur
Repository:Repositorio Institucional de la UABCS
Language:Spanish
OAI Identifier:oai:repositorioinstitucional.uabc.mx:20.500.12930/7014
Online Access:https://recit.uabc.mx/index.php/revista/article/view/2oeyb5
Access Level:Open access
Keyword:Keywords
Mechatronic System
Humanoid Robot
Dynamic Model
FPGA
WiFi.
Sistema Mecatrónico
Robot Humanoide
Modelo Dinámico
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spelling Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beingsDesarrollo de un sistema mecatrónico para robot humanoide que permita emular el movimiento del cuello de los seres humanosLópez Cortés, Francisco JoséVergara Limón, SergioVargas Treviño, María Aurora DiozcoraPalomino Merina, Amparo DoraPinto Avedaño, David EduardoVilariño Ayala, DarnesKeywordsMechatronic SystemHumanoid RobotDynamic ModelFPGAWiFi.Sistema MecatrónicoRobot HumanoideModelo DinámicoFPGAWiFi.The present work shows the design of a mechatronic system, which emulates the movements of the human neck, as it will support the head of a humanoid robot (Arthur) developed by Hanson Robotics. The mechanical design is based on a spherical robot of 3 degrees of freedom (3-GDL), the dynamic model is developed through the Euler-Lagrange equations of motion. The control stage is a FPGA (Field Programmable Gate Arrays) development board, the power stage is based on BJT transistors, the hyperbolic tangent controller and a WiFi communication interface are implemented to configure the robot From a PC with the help of Labview software. As a result, the integration of the mechatronic system, the interface developed together with the FPGA-PC communication and position control, is shown. Future work will be the implementation of the system in the humanoid robot.En el presente trabajo se muestra el diseño de un sistema mecatrónico, el cual emula los movimientos del cuello humano, ya que sostendrá la cabeza de un robot humanoide (Arthur) desarrollado por la empresa Hanson Robotics. El diseño mecánico se basa en un robot esférico de 3 grados de libertad (3-GDL), se desarrolla el modelo dinámico a través de las ecuaciones de movimiento de Euler-Lagrange. La etapa de control es una tarjeta de desarrollo FPGA (arreglos de compuertas programables en campo) de la familia Cyclone IV, la etapa de potencia se basa en transistores BJT, se implementa el controlador Tangente hiperbólico y una interfaz de comunicación WiFi para configurar el robot desde una PC con ayuda del software Labview. Como resultado se muestra la integración del sistema mecatrónico, la interfaz desarrollada junto con la comunicación FPGA-PC y control de posición. El trabajo futuro será la implementación del sistema en el robot humanoide.Universidad Autónoma de Baja California2019-02-102021-06-03T03:52:33Z2021-06-03T03:52:33Zinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionTechnical noteNota técnicaapplication/pdftext/htmlapplication/xmlhttps://recit.uabc.mx/index.php/revista/article/view/2oeyb510.37636/recit.v213539 https://hdl.handle.net/20.500.12930/7014REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 2 No. 1 (2019); 35-39REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 2 Núm. 1 (2019); 35-392594-1925reponame:Repositorio Institucional de la UABCSinstname:Universidad Autónoma de Baja California Surinstacron:UABCSspahttps://recit.uabc.mx/index.php/revista/article/view/2oeyb5/35-39https://recit.uabc.mx/index.php/revista/article/view/2oeyb5/htmlhttps://recit.uabc.mx/index.php/revista/article/view/2oeyb5/OEyB5Copyright (c) 2019 Francisco José López Cortés, Sergio Vergara Limón, María Aurora Diozcora Vargas Treviño, Amparo Dora Palomino Merina, David Eduardo Pinto Avedaño, Darnes Vilariño Ayalahttp://creativecommons.org/licenses/by/4.0info:eu-repo/semantics/openAccessoai:repositorioinstitucional.uabc.mx:20.500.12930/70142024-09-18T21:36:55Z
dc.title.none.fl_str_mv Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings
Desarrollo de un sistema mecatrónico para robot humanoide que permita emular el movimiento del cuello de los seres humanos
title Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings
spellingShingle Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings
López Cortés, Francisco José
Keywords
Mechatronic System
Humanoid Robot
Dynamic Model
FPGA
WiFi.
Sistema Mecatrónico
Robot Humanoide
Modelo Dinámico
FPGA
WiFi.
title_short Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings
title_full Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings
title_fullStr Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings
title_full_unstemmed Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings
title_sort Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings
dc.creator.none.fl_str_mv López Cortés, Francisco José
Vergara Limón, Sergio
Vargas Treviño, María Aurora Diozcora
Palomino Merina, Amparo Dora
Pinto Avedaño, David Eduardo
Vilariño Ayala, Darnes
author López Cortés, Francisco José
author_facet López Cortés, Francisco José
Vergara Limón, Sergio
Vargas Treviño, María Aurora Diozcora
Palomino Merina, Amparo Dora
Pinto Avedaño, David Eduardo
Vilariño Ayala, Darnes
author_role author
author2 Vergara Limón, Sergio
Vargas Treviño, María Aurora Diozcora
Palomino Merina, Amparo Dora
Pinto Avedaño, David Eduardo
Vilariño Ayala, Darnes
author2_role author
author
author
author
author
dc.subject.none.fl_str_mv Keywords
Mechatronic System
Humanoid Robot
Dynamic Model
FPGA
WiFi.
Sistema Mecatrónico
Robot Humanoide
Modelo Dinámico
FPGA
WiFi.
topic Keywords
Mechatronic System
Humanoid Robot
Dynamic Model
FPGA
WiFi.
Sistema Mecatrónico
Robot Humanoide
Modelo Dinámico
FPGA
WiFi.
description The present work shows the design of a mechatronic system, which emulates the movements of the human neck, as it will support the head of a humanoid robot (Arthur) developed by Hanson Robotics. The mechanical design is based on a spherical robot of 3 degrees of freedom (3-GDL), the dynamic model is developed through the Euler-Lagrange equations of motion. The control stage is a FPGA (Field Programmable Gate Arrays) development board, the power stage is based on BJT transistors, the hyperbolic tangent controller and a WiFi communication interface are implemented to configure the robot From a PC with the help of Labview software. As a result, the integration of the mechatronic system, the interface developed together with the FPGA-PC communication and position control, is shown. Future work will be the implementation of the system in the humanoid robot.
publishDate 2019
dc.date.none.fl_str_mv 2019-02-10
2021-06-03T03:52:33Z
2021-06-03T03:52:33Z
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
Technical note
Nota técnica
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://recit.uabc.mx/index.php/revista/article/view/2oeyb5
10.37636/recit.v213539
https://hdl.handle.net/20.500.12930/7014
url https://recit.uabc.mx/index.php/revista/article/view/2oeyb5
identifier_str_mv 10.37636/recit.v213539
https://hdl.handle.net/20.500.12930/7014
dc.language.none.fl_str_mv spa
language spa
dc.relation.none.fl_str_mv https://recit.uabc.mx/index.php/revista/article/view/2oeyb5/35-39
https://recit.uabc.mx/index.php/revista/article/view/2oeyb5/html
https://recit.uabc.mx/index.php/revista/article/view/2oeyb5/OEyB5
dc.rights.none.fl_str_mv http://creativecommons.org/licenses/by/4.0
info:eu-repo/semantics/openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by/4.0
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
text/html
application/xml
dc.publisher.none.fl_str_mv Universidad Autónoma de Baja California
publisher.none.fl_str_mv Universidad Autónoma de Baja California
dc.source.none.fl_str_mv REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 2 No. 1 (2019); 35-39
REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 2 Núm. 1 (2019); 35-39
2594-1925
reponame:Repositorio Institucional de la UABCS
instname:Universidad Autónoma de Baja California Sur
instacron:UABCS
instname_str Universidad Autónoma de Baja California Sur
instacron_str UABCS
institution UABCS
reponame_str Repositorio Institucional de la UABCS
collection Repositorio Institucional de la UABCS
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,81155

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