Design Implementation and Control of A H PDF
Design Implementation and Control of A H PDF
Design Implementation and Control of A H PDF
e-ISSN: 2278-2834,p- ISSN: 2278-8735. Volume 5, Issue 5 (Mar. - Apr. 2013), PP 40-50
www.iosrjournals.org
Abstract: In this paper, the design, implementation and control of a humanoid robot, which enables human-
like walk and a path planning of humanoid robot for obstacle avoidance by using infrared sensors (IRs) is
proposed. As the focus is to obtain human-like walk, the robot is designed to resemble human proportions.
Based on the obtained information from IR sensors, a software flow proposed to decide the behaviour of robot
so that the robot avoids obstacles and goes to the destination. Furthermore the hardware and software
necessary to obtain a fully autonomous system is developed and implemented. Human-like walk was not
obtained on the real system, due to system limitations. If a new interface to the DC-motors in the servos was
developed, and a faster on-board computer was chosen, human-like walk should be possible.
Keywords- Humanoid robot, Autonomous mobile robot, Obstacle avoidance, IR sensors, servo motors, 8051
Micro controller.
I. Introduction
Traditional wheeled robots have been used to perform tasks where movement of the robot is necessary.
However in the recent years more and more interest has been given toward humanoid or biped robots. An
advantage of the biped robots, compared to the wheeled, is the ability to move around in human environments,
where different obstacles or stairs should be surmounted. It is expected that within the coming years, the need
for two legged robots will increase, and as the knowledge in the area is expanded, the number of different tasks
that can be solved by robots will increase rapidly. The number of successfully developed biped robots is
relatively small, but several companies have invested large amounts of money and research into developing
such robots. The task of making a humanoid robot walk is however not trivial, since the code is a highly
complex.
To the best of our knowledge, no one has obtained real human-like walk on a biped robot. Robot
soccer games are teams organized by several robots to play soccer games under fixed restriction and rules. Two
soccer alliances of the robot are the FIRA and the RoboCup . They hold the robot soccer match of world cup
and international congress every year. The humanoid robots have to detect all information from the game field
and decide its strategy by itself. There are many robots in the match field, so the robot must have the ability to
avoid the collision with other robots and move to an appropriate destination. Obstacle avoidance is also a
competition category in the FIRA Cup. The main idea of the competition category is testing the ability of
obstacle avoidance of the robot. In this paper, an obstacle avoidance method based on the IR sensors is proposed
for the autonomous humanoid robot. The infrared (IR) sensors are installed in the robot to detect the
environment including obstacles. Based on the obtained information from IR sensors an obstacle avoidance
method is proposed to determine the free path of robot so that the robot can avoid obstacles and go to a
destination. The rest of this paper is organized as follows: In Section 2, Servo motor working is described. In
Section 3, 8051 Microcontroller features is described. In Section 4, Micro vision Keil (IDE) is described. In
Section 5, IR Sensor interfacing is described. In Section 6, Interfacing of Servo and IR sensor to the
Microcontroller are described. Finally, in Section 7, some conclusions are made.
www.iosrjournals.org 40 | Page
Design , Implementation and Control of a Humanoid Robot for Obstacle Avoidance using 8051
www.iosrjournals.org 41 | Page
Design , Implementation and Control of a Humanoid Robot for Obstacle Avoidance using 8051
Figure 4. Controlling Angular Position of Servo Motor using Pulse Width Modulation.
Figure 6. Servo is originally at the 1.40ms-position when it receives a train of 1.75ms-pulses. The
servo’s control board interprets the pulses and causes the shaft to rotate toward the 1.75ms-position.
After a few pulses, the shaft is in the desired 1.75ms-position.
If additional 1.75ms-pulses are sent to the servo, they are ignored since the shaft is already in the
1.75msposition. This is shown in Figure 7.
Figure 7. Additional 1.75ms-pulses are sent to the servo but the control board ignores them since the
servo is already at the 1.75ms-position.
www.iosrjournals.org 42 | Page
Design , Implementation and Control of a Humanoid Robot for Obstacle Avoidance using 8051
Figure 8, below shows another train of 1.75ms-pulses being sent to the servo, but this time the shaft
will rotate clockwise since the desired 1.75ms-position is to the right of the original 2.0ms-position. In addition,
the shaft will spin at a relatively slow speed since the 1.75ms-position is near the 2.0ms-position[6].
are 8-bit bi-directional ports, i.e., they can be used as both input and output ports. Except P0 which needs
external pull-ups, rest of the ports have internal pull-ups. When 1s are written to these port pins, they are pulled
high by the internal pull-ups and can be used as inputs. These ports are also bit addressable and so their bits can
also be accessed individually[5][12].
To calculate the values to be loaded into the TL and TH registers, look at the following example, Assume XTAL
= 11.0592 MHz, we can use the following steps for finding the TH, TL registers’ values.
i. Divide the desired time delay by 1.085 us.
ii. Perform 65536 – n, where n is the decimal value we got in Step i.
iii. Convert the result of Step ii to hex, where yyxx is the initial hex value to be loaded into the timer’s
register.
iv. Set TL = xx and TH = yy[11].
www.iosrjournals.org 44 | Page
Design , Implementation and Control of a Humanoid Robot for Obstacle Avoidance using 8051
To calculate the values to be loaded into the TL and TH registers, look at the following example, Assume XTAL
= 11.0592 MHz, we can use the following steps for finding the TH register values.
i. Divide the desired time delay by 1.085 us.
ii. Perform 256 – n, where n is the decimal value we got in Step i.
iii. Convert the result of Step ii to hex, where xx is the initial hex value to be loaded into the timer’s register.
iv. Set TH = xx and TL is reloaded automatically[11].
Keil Software provides you with software development tools for the 8051 family of microcontrollers.
With these tools, you can generate embedded applications for the multitude of 8051 derivatives. Keil provides
following tools for 8051 development[5][13].
1. C51 Optimizing C Cross Compiler,
2. A51 Macro Assembler,
3. 8051 Utilities (linker, object file converter, library manager),
4. Source-Level Debugger/Simulator,
5. µVision for Windows Integrated Development Environment.
The keil 8051 tool kit includes three main tools, assembler, compiler and linker. An assembler is used
to assemble your 8051 assembly program, A compiler is used to compile your C source code into an object file.
A linker is used to create an absolute object module suitable for your in-circuit emulator. The software proload
is used to dump the code into the 8051 micro controller.8051 programmer is used to burn code[5][13].
8051 project development cycle: - these are the steps to develop 8051 project using keil
1. Create source files in C or assembly.
2. Compile or assemble source files.
3. Correct errors in source files.
www.iosrjournals.org 45 | Page
Design , Implementation and Control of a Humanoid Robot for Obstacle Avoidance using 8051
An infrared emitter is an LED made from gallium arsenide, which emits near-infrared energy at about
880nm. The infrared phototransistor acts as a transistor with the base voltage determined by the amount of light
hitting the transistor. Hence it acts as a variable current source. Greater amount of IR light cause greater
www.iosrjournals.org 46 | Page
Design , Implementation and Control of a Humanoid Robot for Obstacle Avoidance using 8051
currents to flow through the collector-emitter leads. The variable current travelling through the resistor causes a
voltage drop in the pull-up resistor[15].
In the Figure 15, the Black led is generating IR light but that IR light getting reflected by the gray or
white surface. The black surface absorbs all the light and reflects nothing . So the photo diode in this case
,senses no IR light .The case of black surface is similar to that of there being no object, because in both the
cases there is no reflection sensed by the photodiode. Any color other then black will reflect IR light from it.
So, ultimately , if there is a reflection it means that there is an object and if there is no reflection, it means there
is no object[16].
When the supply is given to the IR sensor, the led starts emitting light radiations. If the surface is of
color other then black then it reflect all the radiations. As these radiations start falling on the photo
diode(detector), which is connected in reverse bias, the resistance of the Photo diode starts decreasing rapidly
and the voltage drop across the diode also decreases. The voltage at pin + starts increasing and as it reaches just
beyond the voltage of pin -, the comparator gives a high output . In case of the black surface , the led emits light
but it is not reflected by the surface, so the photo diode detects nothing and its resistance remain infinite. Hence
the comparator gives low output[16].
5.2 IC LM324
LM324 is a 14pin IC consisting of four independent operational amplifiers (op-amps) compensated in a
single package. Op-amps are high gain electronic voltage amplifier with differential input and, usually, a single-
ended output. The output voltage is many times higher than the voltage difference between input terminals of an
op-amp. These op-amps are operated by a single power supply, LM324 and need for a dual supply is eliminated.
The conventional op-amp applications can be more easily implemented with LM324 [5][14].
www.iosrjournals.org 47 | Page
Design , Implementation and Control of a Humanoid Robot for Obstacle Avoidance using 8051
www.iosrjournals.org 48 | Page
Design , Implementation and Control of a Humanoid Robot for Obstacle Avoidance using 8051
13 90’ 90’ 110’ 90’ 90’ 90’ 110’ 90’ 90’ 90’ 110’ 90’ 110’ 90’ 90’ 90’
14 135’ 135’ 90’ 90’ 135’ 135’ 90’ 90’ 90’ 90’ 110’ 90’ 110’ 90’ 90’ 90’
15 90’ 90’ 90’ 90’ 90’ 90’ 90’ 90’ 90’ 90’ 90’ 90’ 90’ 90’ 90’ 90’
16 90’ 90’ 90’ 90’ 90’ 90’ 90’ 90’ 90’ 90’ 90’ 90’ 90’ 90’ 90’ 90’
Figure 20. A software flow diagram of the movement of humanoid for obstacles detection .
Acknowledgement
The authors would like to thank the Principal / Director, HOD, Staff of S.D.M College of Engineering
and Technology, Dharwad, Karnataka, India, for encouraging us for this research work. Our special thanks to
www.iosrjournals.org 49 | Page
Design , Implementation and Control of a Humanoid Robot for Obstacle Avoidance using 8051
Prof. M. Vijay Kumar, Faculty of Department of E & C E ,S. D. M. C. E. T., Dharwad, Karnataka, India, for
their timely suggestion and support.
References
[1] RC Servo user manual-7,Cytron technology.
[2] www.ermicro.com.
[3] www.digitalnemesis.com.
[4] www.electrosome.com.
[5] www.engineersgarage.com.
[6] Introduction to Servomotor Programming manual pdf.
[7] www.embedded-lab.com.
[8] www.mcu-programming.blogspot.in.
[9] www.umangjain25.blogspot.in.
[10] www.vshamu.wordpress.com.
[11] Muhammad Ali Mazidi, Janice Gillispie Mazidi, Rolin D. McKinlay, the 8051 Microcontroller and Embedded Systems Using
assembly and C.
[12] Atmel 8051 Microcontrollers Hardware Manual(AT89S52).
[13] Keil and proload quick start software flow manual.
[14] LM324 datasheet.
[15] www.irbasic.blogspot.in.
[16] Toshendra k. Sharma, Robotics with AVR, A cook book for engineering project in Robotics with AVR microcontrollers.
[17] Jens Christensen ,Jesper L. Nielsen, Mads S. Svendsen, Peter F. Ørts, Aalborg University Department of Electronic System
Section of Automation and control, Development , Modelling and control of a humanoid robot.
[18] Ching-Chang Wong, Chi-Tai Cheng, Kai-Hsiang Huang, Yu-Ting Yang, Department of Electrical Engineering, Tamkang
University Tamsui, Taipei Hsien, 25137, Taiwan. Design and Implementation of Humanoid Robot for Obstacle Avoidance.
www.iosrjournals.org 50 | Page