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Advancing Humanoid Robots: Demonstration of Standing and Assisted Walking Alongside a New Simulation Framework

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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.
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Identifier
  • 122339
  • E-project-050124-164638
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Advisor
Year
  • 2024
UN Sustainable Development Goals
Date created
  • 2024-05-01
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  • E-project-050124-164638
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Last modified
  • 2024-05-17

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