Download Maze Solving by a Humanoid Robot - Introduction

School of Electronic, Communication and Electrical Engineering
BEng Final Year Project Report
TABLE OF CONTENTS
DECLARA TION S TA TEMENT ............................................................................................... i
ABSTRA CT .......................................................................................................................... i
ACKNOWLE DGEME NTS ...................................................................................................... i
TABLE OF CONTE NTS ........................................................................................................ii
LIS T OF FIGURES ..............................................................................................................iv
GLOSSARY ........................................................................................................................ 1
1.
2.
Introduction ................................................................................................................. 2
1.1
Introduction .......................................................................................................... 2
1.2
Aims and Objectives ............................................................................................. 2
1.2.1
Project Aim.................................................................................................... 2
1.2.2
Objectives ..................................................................................................... 3
1.3
Methodology ......................................................................................................... 3
1.4
Feasibility Study .................................................................................................... 4
1.5
Project Cost Analysis ............................................................................................ 4
1.6
Product Mark etability ............................................................................................. 5
1.7
Summary .............................................................................................................. 5
Subject Overview......................................................................................................... 6
2.1.
2.1.1.
Humanoid Robots .......................................................................................... 6
2.1.2.
History of Humanoid Robots and State of A rt ................................................... 6
2.2.
The Bioloid Comprehensive Kit .............................................................................. 8
2.2.1.
Hardware ...................................................................................................... 8
2.2.2.
Software:..................................................................................................... 12
2.2.3.
Communications .......................................................................................... 17
2.3
3.
Robots ................................................................................................................. 6
Chapter Summary ............................................................................................... 19
Description and Discussion of Work Done ................................................................... 20
3.1.
The Bioloid Humanoid Model ............................................................................... 20
3.2.
WinAVR Compiler ............................................................................................... 21
3.3.
Design and Implementation ................................................................................. 21
3.3.1.
Example code functions ............................................................................... 22
3.3.2.
Servo Functions........................................................................................... 24
3.3.3.
Motion Editor Functions ................................................................................ 25
3.3.4.
S ensor Functions ......................................................................................... 31
3.3.5.
Maze Solving............................................................................................... 33
3.4.
Testing and Debugging ....................................................................................... 35
3.5.
Outcomes ........................................................................................................... 36
3.6.
Chapter Summary ............................................................................................... 37
ii