Design of Modules and Components for Humanoid Robots

Abstract

Methods for the efficient development of modules for a humanoid robot were developed. Future work will be to create a database of system elements for humanoid robot components and the characterization for easier configuration of future humanoids. This database can then be used to generate consistent principle solutions for robot components more efficiently. Topology optimization is a tool for designing and optimizing robot components which need to be light yet stiff. The thorax of ARMAR III was designed with the help of this method. For the simulation of mechatronic systems like humanoid robots, it is necessary to consider mechanical aspects as well as the behaviour of the control system. This is not yet realized in the previously described topology optimization process. The coupling between the mechanical system and the control system might influence the overall system's dynamic behaviour significantly. As a consequence, loads that act on a body in the system might be affected not only by the geometric changes due to optimization but also by the control system as well. The topology optimization scheme shown in Fig. 4 should be extended by means of integrating the dynamic system with a multi body simulation and the control system as depicted in Fig. 14.