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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Päätekijät:	López Cortés, Francisco José, Vergara Limón, Sergio, Vargas Treviño, María Aurora Diozcora, Palomino Merina, Amparo Dora, Pinto Avedaño, David Eduardo, Vilariño Ayala, Darnes
Aineistotyyppi:	info:eu-repo/semantics/article
Kieli:	spa
Julkaistu:	Universidad Autónoma de Baja California 2019
Aiheet:	Keywords Mechatronic System Humanoid Robot Dynamic Model FPGA WiFi. Sistema Mecatrónico Robot Humanoide Modelo Dinámico
Linkit:	https://recit.uabc.mx/index.php/revista/article/view/2oeyb5
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id	repositorioinstitucional-20.500.12930-7014
record_format	dspace
spelling	repositorioinstitucional-20.500.12930-70142023-05-09T14:35:07Z 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 López Cortés, Francisco José Vergara Limón, Sergio Vargas Treviño, María Aurora Diozcora Palomino Merina, Amparo Dora Pinto Avedaño, David Eduardo Vilariño Ayala, Darnes Keywords Mechatronic System Humanoid Robot Dynamic Model FPGA WiFi. Sistema Mecatrónico Robot Humanoide Modelo Dinámico FPGA WiFi. 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. 2019-02-10 2021-06-03T03:52:33Z 2021-06-03T03:52:33Z info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Technical note Nota técnica https://recit.uabc.mx/index.php/revista/article/view/2oeyb5 10.37636/recit.v213539 https://hdl.handle.net/20.500.12930/7014 spa 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 Copyright (c) 2019 Francisco José López Cortés, Sergio Vergara Limón, María Aurora Diozcora Vargas Treviño, Amparo Dora Palomino Merina, David Eduardo Pinto Avedaño, Darnes Vilariño Ayala http://creativecommons.org/licenses/by/4.0 application/pdf text/html application/xml Universidad Autónoma de Baja California REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 2 No. 1 (2019); 35-39 REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 2 Núm. 1 (2019); 35-39 2594-1925
institution	Repositorio Institucional
collection	DSpace
language	spa
topic	Keywords Mechatronic System Humanoid Robot Dynamic Model FPGA WiFi. Sistema Mecatrónico Robot Humanoide Modelo Dinámico FPGA WiFi.
spellingShingle	Keywords Mechatronic System Humanoid Robot Dynamic Model FPGA WiFi. Sistema Mecatrónico Robot Humanoide Modelo Dinámico FPGA WiFi. López Cortés, Francisco José Vergara Limón, Sergio Vargas Treviño, María Aurora Diozcora Palomino Merina, Amparo Dora Pinto Avedaño, David Eduardo Vilariño Ayala, Darnes Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings
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.
format	info:eu-repo/semantics/article
author	López Cortés, Francisco José Vergara Limón, Sergio Vargas Treviño, María Aurora Diozcora Palomino Merina, Amparo Dora Pinto Avedaño, David Eduardo Vilariño Ayala, Darnes
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_sort	López Cortés, Francisco José
title	Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings
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
publisher	Universidad Autónoma de Baja California
publishDate	2019
url	https://recit.uabc.mx/index.php/revista/article/view/2oeyb5
_version_	1792609207462133760

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

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