A modular design process for developing humanoid mobile robot VieBot

Abstract

This paper introduces a design process for developing a humanoid mobile robot, namely VieBot. Stemming from the design process, it is easy to adjust the design and extent robot behaviors to meet customer needs. Our key solution is to split the design into three modules related to robot behavior, kinematic computation and motion control. Base on the results from testbed module under comprehensive testing, the design is gradually improved to satisfy sophisticated requirement of assisting disabled people.

Modelling and Simulation of Fuzzy-based Coordination of Trajectory Planning and Obstacle Avoiding for RRP-Typed SCARA Robots

“…The computational complexity, however, increases due to the repeated use of the nonlinear functions of the fuzzy logic. Different to the above-mentioned results, in [18] a fuzzy-based basic solution is proposed for coordinating obstacle avoidance and path planning behaviors of 6-DoF humanoid mobile robots. The main ideas of the solution is to divide a complex robot behavior into simpler behaviors and organize the behaviors in a hierarchical chart so that an upper class behavior consists of some behaviors in the lower class.…”

“…The main ideas of the solution is to divide a complex robot behavior into simpler behaviors and organize the behaviors in a hierarchical chart so that an upper class behavior consists of some behaviors in the lower class. The main ideas in [18] is reused in this research but for a 3-DoF robot to reduce the computational complexity of the robot control system. The proposed fuzzy-based coordination between parallel behaviors makes the robot movement smooth according to the changing obstacle distance.…”