Koalby and Ava are two toddler-sized 3D Printed humanoid robots intended for human interaction and lab assistance. The capabilities planned for integration during this year’s project include standing without support, walking while pushing a cart and lifting objects. The first task involved updating the wiring of motors and electronics to improve performance and ensure consistent functionality. Kinematics and trajectory planning were implemented to replicate human movements and simplify motion control. This was followed by the integration of sensors such as TF Luna LiDAR, Husky Lens, and IMUs to provide data required for walking trajectories and feedback control. Additional batteries and power circuits were incorporated to account for new motors and sensors. In order to test all of these aspects, a simulation model was also developed in CoppeliaSim. Finally, a user-friendly interface was created to view all the sensor data and control the humanoid robots.

• 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

• Fernandez, Joshua
• Snow, Casey
• O'sullivan, Finbarr
• Lee, Erin

Subject

• Industry
• Learning
• Innovation
• Computing
• Project-Based Learning

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-050323-153614
• 108536

Keyword

• User Interface
• Python
• Humanoid Robot
• Kinematics
• Arduino

Advisor

• Radhakrishnan, Pradeep
• Pahlavan, Kaveh

Year

• 2023

UN Sustainable Development Goals

• 4 - Quality Education
• 9 - Industry, Innovation and Infrastructure

Date created

• 2023-05-03

Resource type

• Major Qualifying Project

Major

• Computer Science
• Robotics Engineering
• Mechanical Engineering

Source

• E-project-050323-153614

Rights statement

• In Copyright

Last modified

• 2023-06-13