This project is a continuation of the multi-year 3D-printed humanoid robotics MQP aiming to iterate on the simulation, electrical, and firmware solutions of previous years to create a robust, reliable, and efficient open-source humanoid robot. Ava is the current iteration of this robot. Her electrical system was updated to remove points of failure commonly found in moving wiring solutions through the development of a central circuit board and custom wires. The simulation, in CoppeliaSim, was updated to include a more accurate model of the robot along with material and mechanical properties. In simulation, Ava is now capable of unassisted standing for over 3.5 hours, squatting for over an hour, and walking with a cart for over an hour. In real life, Ava is now capable of unassisted standing for 3 minutes and walking with a cart for over 2 meters. Ava utilizes high-level software through a Raspberry Pi 4B and low-level firmware through an Arduino MEGA 2560 to interact with the world. Using a 9-DOF BNO055 IMU and trajectory planning with kinematics, she demonstrates walking forward while pushing a cart and standing upright independently.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Kohli, Jatin
• Rothenberg, Jack
• Fanning, Stephen
• Pena, Scott
• Roure, Ana
• Nguyen, Dylan

Subject

• Health
• Community
• Well-Being
• Sustainability
• Project-Based Learning
• Learning
• Industry
• Innovation
• Computing

Publisher

• Worcester Polytechnic Institute

Identifier

• 122339
• E-project-050124-164638

Stichwort

• 3D Printing
• Simulation
• Locomotion
• Robotics
• Humanoid Robots
• CoppeliaSim

Advisor

• Radhakrishnan, Pradeep
• Rosbach, Derren
• Albrecht, Dirk

Year

• 2024

UN Sustainable Development Goals

• 3 - Good Health and Well-being
• 4 - Quality Education
• 9 - Industry, Innovation and Infrastructure

Date created

• 2024-05-01

Resource type

• Major Qualifying Project

Major

• Computer Science
• Biomedical Engineering
• Robotics Engineering

Source

• E-project-050124-164638

Rights statement

• In Copyright

Zuletzt geändert

• 2024-05-17