Design, Implementation and Control of a Humanoid Robot for Obstacle Avoidance using 8051 Microcontroller

摘要

In this paper, the design, implementation and control of a humanoid robot, which enables humanlike walk and a path planning of humanoid robot for obstacle avoidance by using infrared sensors (IRs) is proposed. As the focus is to obtain human-like walk, the robot is designed to resemble human proportions. Based on the obtained information from IR sensors, a software flow proposed to decide the behaviour of robot so that the robot avoids obstacles and goes to the destination. Furthermore the hardware and software necessary to obtain a fully autonomous system is developed and implemented. Human-like walk was not obtained on the real system, due to system limitations. If a new interface to the DC-motors in the servos was developed, and a faster on-board computer was chosen, human-like walk should be possible.