Design of Kokone, a small humanoid robot

In this paper we present the design of Kokone, a small humanoid robot. Kokone (¿kid¿ in na¿huatl, a mexican dialect) has 22 degrees of freedom (DoF), with an aluminum structure (1.5 mm thickness). A PC sends control signals to the robot via a serial link. The forward kinematics model is obtained wit...

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Bibliographic Details
Main Authors: Hernandez, V.G., Torres, G.R.
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Artificial neural networks
Biped locomotion
genetic algorithm
Genetic algorithms
humanoid robot
Humanoid robots
Humans
inverse kinematics
Kinematics
Mobile robots
Navigation
Robot vision systems
Testing
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Summary:In this paper we present the design of Kokone, a small humanoid robot. Kokone (¿kid¿ in na¿huatl, a mexican dialect) has 22 degrees of freedom (DoF), with an aluminum structure (1.5 mm thickness). A PC sends control signals to the robot via a serial link. The forward kinematics model is obtained with the Denavit-Hertenberg method. The inverse kinematics problem is solved using a genetic algorithm (GA). The solutions obtained by the GA are then plotted in order to verify their suitability, and show a good performance. Our main objective with this project is to obtain an affordable robotic platform for the development of robotic vision algorithms and navigation strategies.
DOI:10.1109/ICEEE.2009.5393436