Cooperative Between Two Humanoid Robots In Completing Tasks

Tan, Ying Ying (2017) Cooperative Between Two Humanoid Robots In Completing Tasks. Project Report. UTeM, Melaka. (Submitted)

Text Cooperative Between Two Humanoid Robots In Completing Tasks - Tan Ying Ying - 24 Pages.pdf - Submitted Version Download (498kB)

Abstract

The implementation of robotic technologies in current society has significantly increased over the years especially in industrial and manufacturing field. It has been a great help in ease human daily life. There are plenty of researchers focus on robot-robot collaboration and human operator-robot collaboration. However, lack of research was done for collaboration between two humanoid robots. This is due to the stability and the complexity of controller in control humanoid robots. Although the control of humanoid robot is difficult, there are still some researchers focus on developing humanoid robots which possesses some human characteristic and behaviour of human being. One of the characteristic that possesses by human being is the gregarious, humans are able to work in team to solve problems together. In this project, the main focus is on the movement of humanoid robot’s arm. The proposed control system implement IF-THEN rules for the velocity regulator. The rules are set based on the angle disparity in gyroscope and the velocity of robot arm’s movement. PID controller are used to regulate the system so the lifting process can be optimized. To verify the utility of the controller proposed, simulations were conducted using Nao robot in V-Rep environment. There were several simulations conducted to test the reliability of the controller and to prove the performance of the humanoid robot increases as the number of robot increases. The result of simulation shows that two Nao robots perform better than single robot when dealing with heavy object according to the object orientation range which is 66.24% less than single robot. Besides, the stability of robot for single robot is less stable compared to two Nao robots during object lifting as shown by foot force sensitive resistor response.

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