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- 1. VISVESVARAYA TECHNOLOGICAL UNIVERSITY “Jnana Sangama” Belagavi-590018, Karnataka JSS MAHAVIDYAPEETHA JSS Academy of Technical Education, Bengaluru Presentation on Department of Robotics & Automation TITLE: SELF TRANSFORMING HUMANOID ROBOT PROJECT GUIDE K S MAHESH ASSSISTANT PROFESSSOR DEPARTMENT OF ROBOTICS AND AUTOMATION BATCH NO: 03 1. R B Kailash C 2. Rohith 3. Sudhanva V A B 4. Vikas A Ram -1JS21RA013 -1JS21RA015 -1JS21RA018 -1JS21RA023
- 2. INTRODUCTION Self-transforming humanoid robots represent a cutting-edge intersection of robotics, artificial intelligence, and materials science. These robots possess the remarkable ability to alter their physical form or structure, adapting to various tasks, environments, or situations. This report delves into the key concepts, technologies, challenges, and potential applications of self-transforming humanoid robots.
- 3. OBJECTIVES AND GOALS A self-transforming humanoid robot is designed to mimic human appearance and behavior while possessing the capability to alter its shape or configuration based on environmental demands or specific tasks. Key characteristics include: Human-like Appearance: Designed to resemble humans in both form and movement. Adaptive Mechanics: Ability to change physical structure or functionality depending on the task. Advanced AI Integration: Utilizes AI for decision-making, learning from interactions, and improving performance over time.
- 4. PROBLEM STATEMENT Design a mechanical structure that is both robust and flexible enough to accommodate multiple configurations The most efficient actuation mechanisms for achieving seamless transformations between configurations Ensure stability and control during the transformation process Develop algorithms for real-time navigation and obstacle avoidance that adapt to changing configurations Ensure reliable perception and navigation in challenging environments
- 5. TITLE AUTHOR YEAR SUMMARY A literature review of sensor heads for humanoid robots J.A. Rojas-Quintero & M.C. Rodríguez-Li?án 2021 The literature review on sensor heads for humanoid robots highlights the importance of vision in human- robot interaction and examines control techniques for active vision. It categorizes humanoid robot heads into two types: non-expressive and expressive, detailing their characteristics and design considerations. The review also provides a chronological perspective on advancements in control techniques, mechanical design, and overall philosophy in robotic head development A review on humanoid robots Rabbia Mahum , Faisal Shafique Butt, Kashif Ayyub, Seema Islam, Marriam Nawaz, Daud AbdullahRabbia Mahum , Faisal Shafique Butt, Kashif Ayyub, Seema Islam, Marriam Nawaz, Daud Abdullah 2017 This paper explores the captivating field of humanoid robots with artificial intelligence, highlighting their potential for innovative ideas despite practical implementation limitations. It examines various humanoid robots and their applications, providing a detailed comparison of their characteristics based on their structures. The discussion also addresses the limitations encountered in the field and suggests directions for future work.
- 6. A Systematic Literature Review on the Applications of Robots and Natural Language Processing in Education Hussain A. Younis ,Nur Intan Raihana Ruhaiyem ,Wad Ghaban ,Nadhmi A. Gazem and Maged Nasser 2023 This study explores the integration of natural language processing (NLP) with NAO robots in education, analyzing 82 articles across special needs, kindergartens, schools, and universities. It highlights the benefits of NAO robots in enhancing communication and learning, encouraging publication in high-impact journals. The research serves as a guide for stakeholders in education and robotics. Humanoid Robot-Application and Influence Avishek Choudhury, Huiyang Li, Christopher M Greene, Sunanda Perumalla 2018 This article examines the use of humanoid robots in healthcare and education, particularly their effects on children with autism, cancer, and cerebral palsy. It reveals that preferences for humanoid robots vary by age and gender, with children and the elderly favoring them for their consistent interactions. The study highlights that trust in these robots is influenced by their applications, as well as the user's demographic factors and social experiences. Value of Robots: A Literature Review Gehan Wishwajith Premathilake 2020 This thesis explores the value of AI-based robots for individuals and organizations, emphasizing their roles in healthcare, tourism, and education. It identifies key value factors such as functionality, efficiency, cost reduction, and innovation. The study highlights the importance of balancing human-robot collaboration for maximum productivity and societal benefit.
- 7. Service Robots: A Systematic Literature Review In Lee 2021 This study conducts a systematic review of research on service robots, categorizing them into four types based on application and industry. It examines technological foundations applicable across all categories. The study also highlights understudied opportunities and challenges for future research in the field. The role of the human-robot interaction in consumers’ acceptance of humanoid retail service robots Christina Soyoung Song & Youn- Kyung Kim 2022 This study examines how a Retail Service Robot's usefulness, social capability, and appearance impact Human-Robot Interaction (HRI) and customer acceptance. It finds that anxiety toward robots can moderate the relationship between these factors and HRI attitudes. The results suggest that positive HRI leads to greater anticipated service quality and RSR acceptance, offering insights for future robot adoption in retail. Comparison of Human and Humanoid Robot Control of Upright Stance Robert J Peterka 2010 Humanoid robots require stable postural control, akin to humans, to maintain upright stance. While robots use zero moment point (ZMP) compensation, they lack a flexible sensory integration mechanism that helps humans adapt to changing conditions. Incorporating sensory integration could improve robot stability, though design must account for differences in human and robot constraints.
- 8. METHODOLOGY
- 9. COMPONENTS LIST MG995 High Speed Servo Motor(360 Degree) MG995 Specifications Type: Analog Servo Rotation: 180 degrees (not continuous; for continuous rotation, consider the MG996R) Torque: At 4.8V: 9.4 kg/cm (130 oz/in) At 6.0V: 11 kg/cm (152 oz/in) Speed: At 4.8V: 0.20 sec/60 degrees At 6.0V: 0.17 sec/60 degrees Operating Voltage: 4.8V to 7.2V Weight: Approximately 55g Dimensions: 40.7 x 19.7 x 42.9 mm Gear Type: Metal gears for enhanced durability Connector: Standard 3-pin connector Control System: PWM (Pulse Width Modulation) with a typical pulse width of 1 ms to 2 ms Operating Temperature: -20 to 60 degrees Celsius Features High Torque: Suitable for demanding applications. Metal Gears: Provides durability and reduces wear over time. Wide Voltage Range: Can operate on a range of power supplies. Easy to Use: Compatible with most RC controllers and microcontrollers. Applications Robotics Remote-controlled vehicles Industrial automation Model airplanes and drones SG90 SERVO Basic Specifications Model: SG90 Weight: 9 grams Operating Voltage: 4.8V (typical) Stall Torque: 1.8 kgf-cm (4.8V) Operating Speed: 0.1 sec/60 degrees (4.8V) Dead Band Width: 10 microseconds Temperature Range: 0°C to 55°C Gear Type: Plastic Rotation: 180 degrees (90 degrees in each direction) Additional Specifications Operating Voltage Range: 3.0V to 7.2V Stall Torque (6.6V): 1.6 kgf-cm Operating Speed (6.6V): 0.09 sec/60 degrees Dimensions: 22.2 x 11.8 x 31 mm (approx.) Key Points The SG90 is a popular choice for small robotics and RC projects due to its compact size, low weight, and relatively high torque. It is important to note that the SG90 has plastic gears, which can be prone to wear and tear, especially under heavy loads. The operating voltage of 4.8V is typical, but the servo can operate on voltages between 3.0V and 7.2V.
- 10. Raspberry Pi 3 Model B+ Specifications Processor: Broadcom BCM2837B0, Cortex-A53 (ARMv8) 64-bit SoC @ 1.4GHz Memory: 1GB LPDDR2 SDRAM Networking: Dual-band 2.4GHz and 5GHz IEEE 802.11.b/g/n/ac wireless LAN Bluetooth 4.2, BLE Gigabit Ethernet over USB 2.0 (maximum throughput 300 Mbps) Video: Full-size HDMI 4-pole stereo output and composite video port Storage: Micro SD card slot I/O: 40-pin GPIO header CSI camera port DSI display port 4 USB 2.0 ports Power: 5V/2.5A DC power input Other Features: Power-over-Ethernet capability (with separate PoE HAT) Improved thermal management AUDINO UNO Microcontroller Model: ATmega328P Operating Voltage: 5V Input Voltage (recommended): 7-12V Input Voltage (limits): 6-20V Digital I/O Pins Total: 14 PWM Outputs: 6 Analog Input Pins Total: 6 (A0 to A5) Flash Memory Size: 32 KB (of which 0.5 KB is used for the bootloader) SRAM Size: 2 KB EEPROM Size: 1 KB Clock Speed Frequency: 16 MHz Communication UART: 1 I2C: 1 SPI: 1 Dimensions Size: 68.6 mm x 53.4 mm (2.7 in x 2.1 in) Other Features LEDs: Built-in LED on pin 13 USB connection: Standard USB-B connector for programming and power Compatible IDE: Arduino IDE
- 11. DESIGN
- 14. PROBABLE RESULTS & ANALYSIS Functional Improvements Efficiency in Resource Use: A single robot could replace several specialized devices, reducing manufacturing and operational costs. Expanded Mobility: Transformation into wheeled, legged, or even flying forms might enable movement in complex terrains. Durability and Redundancy: Modular designs in transforming robots could ensure continued function even if one part fails. Technological Advancements Shape-Shifting Mechanisms: Successful development of robotic systems capable of physical transformation to suit specific tasks or environments. Progress in material science with shape-memory alloys, soft robotics, or modular design to enable these transformations. Improved AI Integration: Enhanced artificial intelligence for real-time decision-making and adaptation. Better autonomous functionality, where the robot decides how and when to transform for optimal performance.
- 15. FUTURE WORK Applications and Impact Disaster Response: Robots capable of transforming could access areas inaccessible to traditional designs, such as collapsed buildings or tight spaces during rescue operations. Healthcare: Transformable robots could assist in elderly care, shift forms to navigate homes, or perform surgeries requiring high adaptability. Military and Defense: These robots might be deployed in reconnaissance missions, capable of transitioning between stealth modes (e.g., compact form) and operational modes (e.g., humanoid combat-ready form). Space Exploration: Transformable robots could handle varied terrains, from rough surfaces on planets to microgravity environments. Consumer Robotics: Multi-purpose home assistants that adapt their form for cleaning, lifting objects, or providing security.
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