Title:
Design and Implementation of a Control System for a Humanoid Robot
Date:
Thursday, Jun 10th, 2010 at 3:30 PM – 4:30 PM
Location:
E2 – 361 EITC, Fort Garry Campus, University of Manitoba
Speaker:
Dr. Ahmad Byagowi
Abstract:
In this presentation, the design and implementation of a control system for a humanoid robot is presented. The control system is implemented for a teen sized humanoid robot, named Archie. Project Archie started at the Institute of Handling Robots and Technology from Vienna University of Technology in the year 2004. The aim of this project is to construct a robot that can imitate human movements such as walking.
The control system is designed based on distributed computer architecture, which means that the entire control system consist of multiple individual motion control units which in turn control the joints (i.e., each joint has a motion controller) and communicate through a data network with the central controller. The central controller is designed on a system-on-chip, based on embedded systems.
In this system, an embedded processor and some peripheral hardware result a minimum system to execute a standard operating system (Real time Linux). The joint controllers of the robot face different load properties based on the overall pose of the robot. Since the design of the motion controllers are based on the load specification, tuning the motion controller parameters is a necessary task. This task can be simplified by using a simulation of the robot. The simulation will anticipate the operation of the motion controllers in the real robot. Finally, the control system of the real robot is tested and evaluated by the traversed trajectories and they are compared with the simulation of the robot. The trajectories of the real robot are taken using image processing from a video stream of the robot’s movement. The evaluation is done by comparing the simulation errors and the error obtained from the data of the real robot on the same test.
Speaker Bio:
Ahmad Byagowi received the B.S. and the M.S. degree in electrical engineering from Tehran (Iran) in 2005 and 2007 respectively. In 2007, he started the Ph.D. at Institute of Handling Robots and Technology (IHRT) from Vienna University of Technology (Austria) and in 2010 he finishes the Ph.D. degree with honor. During the Ph.D. work he was invited to the Autonomous Agent lab (AALAB) from University of Manitoba (Canada) as a visiting scholar (10 months). After getting the first Ph.D. from Vienna University of Technology, in 2010, he started the second Ph.D. in the department of electrical and computer engineering from University of Manitoba.
Dr. Byagowi has filed 4 patents, one 3rd price of innovation from Geneva in 2008 and more than 7 papers in different conferences in the field of Robotics. Besides he participated in Robocup world competition as well as IranOpen competitions from 2005 till 2009 and received the several 1st, 2nd and 3rd place in different leagues. Moreover, in 2008, he participates in FIRA EuroCup which was held between Switzerland (Zurich) and Austria (Linz) and received 1st place in Narosot league as well as 2nd place in Mirosot. In addition, Dr. Byagowi serves as part of the technical committee for several Robocup Rescue league as well as FIRA Mirosot league. During the time of being visiting scholar in the AALAB, Dr. Byagowi joined the UAV team of University of Manitoba and participates in the student competition 2009.
Cost:
Free, All are welcome.
Contact:
For questions or more information contact Sherif Sherif at 474-6893.
