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HMOD-1

Project by MarkusB

I am working since a while on a new humanoid to continue my AI experiments. So far I have finished a conceptual 3-D-drawing, based on the parts I want to use. The 2WD base is from Makeblock, the upper body the Johnny 5 torso from Lynxmotion. I have cancled the base rotate turntable and changed the original 1 DOF head with ultrasonic sensor to a 2 DOF head with compound eye. Following input/output devices are planned in the moment:

6 HC-SR04 ultrasonic sensors
Optical encoders for the geared motors
Devantech CMPS 10 compass module
Compound eye
Costum made speech recognition board based on the HM2007 chip (I love the fact that this chip works with perceptrons)
Parallax Emic 2 Text-to-Speech Module
2 geared motors for propulsion
14 DOF torso

HMOD-1-1 HMOD-1-2

Some further work done…

Changed geared motors of the Makeblock platform (from 6 V, gear ratio 1:75 to 12 V, gear ratio 1:184):

Platform_with_new_motors_2

CNC machined nylon deck:

Nylon_deck

Platform with nylon deck, Arduino Mega, motor controller and Li-Po battery:

Nylon_deck_assambled

Machined aluminium deck:

Aluminium_deck

Ultrasonic ranger (HC-SR04) array:

Ultrasonic_ranger_aray

Obstacle avoidance will be done via so called bubble rebound algorithm (see attached PDF).

Attachment Size
Obstacle_avoidance_algorithm.pdf 265.24 KB

HMOD-1 upper body under construction:

Upper_body_HMOD-1

Source: http://letsmakerobots.com/blog/markusb/hmod-1-update-3

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