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Humanoid Robot Head: May 09-11
Dan PotratzCody Genkinger
Tim MeerJason Pollard
Andrew Taylor
Planning and System Design
Problem/Need Statement System Requirements System Analysis Functional Decomposition Concept Renderings Market Survey Risks
Problem/Need Statements
Problem – Currently there is a robotic frame with two mobile robotic arms, but a static shell for the head.
Need – The head needs to be capable of showing human-like facial emotions and movements.› Smile, frown, frustration, etc;› Tilt, roll, and pan the head.
System Requirements
The head shall look clean and nonthreatening, while retaining human-like attributes.
The head shall pitch, roll and yaw within a 90º, 90º, 90º arc of motion within a user specified duration.
Movement of the head shall be smooth and well transitioned.
The mouth and each eyebrow shall be handled by a single servo, with a 180º arc of motion within a user specified duration.
Motors shall be quiet and not distracting.
System Requirements
Microphones shall be used to listen for human speech and object interaction noise within three meters of the robot while distinguishing between ambient noise and human voice.
A camera shall be implemented within the head or body to provide/process visual feedback.
The microcontroller board shall be connected to a PC via serial or USB.
Servo wiring shall be twisted pair (to maintain low noise emission).
API shall be done within C/C++. Interface will be done in C#.
System Analysis
A single RS-232 Servo Controller will handle all pulse width control signals to all eight servos.
A power supply will have enough power for all servos and controller
Programming will provide user communication to controller.
Functional Decomposition
Concept Renderings
Provided by Alex Stoytchev
Concept Movie
Provided by Alex Stoytchev
Market Survey
There are a very limited amount of projects/products similar to ours.
MIT does have a comparable project that is focusing on environmental interaction, and is replete with eyebrows, eyes, mouth and neck.
Market Survey: Wall-E
Risks
Technical:› Servo controller/motor malfunction.› Difficulties integrating serial interface.
Financial:› Parts may exceed small budget.› Loss/denied funding for project/parts.
Risks
Schedule:› Shipping delays› Other course work delays project tasks
Customer Acceptance› Not pleased with result/design and
documentation› Solution might exceed budget
Detailed Design
Hardware specification Software specification User interface specification
Hardware Specification: Neck – Pitch, Pan & Tilt
Three servos 0-180º < 1 second Three degrees of
freedom Easily Fits inside
space provide on the chassis
Supports up to 4kg Price: $60.00
Hardware Specification: Neck – Servomotors
Control System: +Pulse Width Control 1500usec Neutral
Required Pulse: 3-5 Volt Peak to Peak Square Wave
Operating Voltage: 4.8-6.0 Volts Operating Temperature Range: -20 to +60
Degree C Operating Speed (4.8V): 0.24sec/60° at no
load Operating Speed (6.0V): 0.20sec/60° at no
load Stall Torque (4.8V): 106.93 oz/in. (7.7kg.cm) Stall Torque (6.0V): 133.31 oz/in. (9.6kg.cm) Operating Angle: 45° one side pulse traveling
400usec 360 Modifiable: Yes Direction: CW/Pulse Traveling 1500 to 1900usec Current Drain (4.8V): 8.8mA/idle and 350mA
no load Current Drain (6.0V): 9.1mA/idle and 450mA
no load Motor Type: 3 Pole Ferrite Potentiometer Drive: Indirect Drive Bearing Type: Dual Ball Bearing Gear Type: 3 Metal Gears and 1 Resin Metal
Gear Connector Wire Length: 11.81" (300mm) Dimensions: 40.6 x 19.8 x 37.8mm Weight: 1.94oz. (55.2g) Price: $40.00 each
Hardware Specification: Face – Servomotors
Control System: +Pulse Width Control 1520usec Neutral
Required Pulse: 3-5 Volt Peak to Peak Square Wave
Operating Voltage: 4.8-6.0 Volts Operating Temperature Range: -20 to
+60 Degree C Operating Speed (4.8V): 0.10sec/60° at
no loadOperating Speed (6.0V): 0.09sec/60° at no load
Stall Torque (4.8V): 20.8 oz/in. (1.5kg.cm)
Stall Torque (6.0V): 23.5 oz/in. (1.7kg.cm)
Operating Angle: 45° one side pulse traveling 400usec
360 Modifiable: No Direction: CCW/Pulse Traveling 1520-
1900usec Motor Type: 3 Pole Ferrite Potentiometer Drive: Indirect Drive Bearing Type: Top Ball Bearing Gear Type: All Nylon Gears Connector Wire Length: 12” Dimensions: 21.8 x 11 x 19.8mm Weight: .27oz. (7.8g) Price: $14.00 each
Hardware Specification: Head – Microcontroller
Max packet size: 59 bytes Max control rate: 15 instructions /
second 74% available bandwidth used worst
case 1 to 8 servos per board with 8-bit
resolution <1° of servo position precision
resolution Servo port can be reconfigured for
digital output to drive on/off devices. Interface to PC through RS232 Serial
port (2400 to 19200 baud). User definable board ID number
(allowing multiple boards to share same serial line).
5-Ch, 8-bit A/D input port for reading 0 - 5 Volts. (Control servo positions via Joystick/Pot)
Dimensions: 1.4 in X 1.7 in Servo Connectors: 3 pin J-type
connectors. Power supply: 7V-15V Price: $80.00
Hardware Specification: Head – Microphone
MIC Type: Gooseneck Element: Back electret
condenser Polar Pattern: Cardioid Impedance: 250Ω Frequency: 50 Hz to 18 kHz Sensitivity*: -65 dB +/- 3dB Max SPL @ 1% THD: >130 dB S/N Ratio: >65 dB Phantom Voltage Req: 9V – 52V
DC Connector: XLR Male Dimensions: 18-1/4" L x 3/4" Dia. Product Weight: 4 oz. Material: Cooper Finish: Non-glare black finish Price: $80.00
*(0dB=1V/BAR 1,000 Hz indicated by open circuit)
Hardware Specification: Head – Cameras
Sensor: CMOS VGA sensor technology
Resolution: Motion Video: 640 x 480 pixels video
Still Image: 1.3 megapixel (1280 x 960 pixels, interpolated) photos
Field of View: 55° diagonal field of view Automatic face trackingDigital pan, tilt, and zoomManual focus
Price: Already provided
Hardware Specification: Testing
Servos› Function Generator› Oscilloscope› Bench-Top DC Power Supply
Microcontroller Board› Oscilloscope› Computer with serial connection› HyperTerminal Communication Software› Bench-Top DC Power Supply
Power Supply/Voltage Divider› Bench-Top Multimeter› Bench-Top DC Power Supply
Hardware Specification: Testing
Frame (Eye Tray)› Completed frame and servo assembly› Working serial computer communication› Final testing stage
Frame (Aesthetic Plate Attachment)› Completed frame and servo assembly› Final testing stage
Neck Joints› Completed head with plates attached› Working serial computer communication
Hardware Specification: Prototyping
Theoretical:› Expression-Movement Mechanics
(SolidWorks)
Physical:› Expression-Movement Mechanics› Aesthetic plate connections
Mechanical CAD
Drawn with the assistance of Robert Peck
Mechanical CAD
Drawn with the assistance of Robert Peck
Electrical CAD
Software Specification: Overview
Software tools to allow for interaction with our robotic head› RS-232 Instructions
Broad library› Easy to develop scripts› Implementation
Written in C› Accommodate robotic arm code
Software Specification: Goals
Broad functions that allow for full movement control› Each servo is controlled and receives feedback
from microcontroller. Descriptive functions
› Anticipate future changes› Easy to read and use
Command hierarchy› Reduce redundant code› Stable functions› Easy to create new functions.
Software Specification: UML Diagram
Software Specification: Testing
Unit Testing:› Test each software component.› Ensure each component works to design.
Software System Testing:› Manual test using HyperTerminal› Ensure system works to design.
User Validation› Ensures design overall correctness.
User Interface Specification:
Overview User-directed scripting for robot animations.› Save and open scripts
Manually adjust individual facial and neck parts.
Easy-to-use tabs for different aspects Adjust hardware related options. Image provided to allow judgment of
ending animation (with preview button).
User Interface Specification:
Concept Rendering
User Interface Specification:
Concept Rendering
User Interface Specification:
Goals To create animations for head To create a clean, easy to understand
interface To create a stable interface with:
› Proper error reporting› Feedback for the user› Crash acknowledgement
Questions?
