This YZUEI Robot is a titanium alloy robot, which resembles human-beings body. Generally, a biped humanoid robot have a torso, a head, two arms, as well as two legs. The robot requires a combination of hardware and software knowledge, integrating the expertise of the electrical, mechanical, and software knowledge. It is the best learning element for interdisciplinary learning. On the hardware side, we will learn how to operate and fix various sensors and motors. In software, we will use the Visual-basic like programming language. Here, we are going to design the battle robot. We can design the robot with our need. This robot is bought from Robosmart Technology. It provides us an opportunity to build our own robot!

Content

• Component
• Installation
• Praogram_syntax
• Robot_Action_Programming
• Preliminary_prepare
• Check_and_start
• Discussion
• Video
• Code
• Reference
• Members
• Honor
• Gratitude

Component

The Biped-Humanoid-Robot mainly consists of:

• Robot
• Innovati Servo Commander 16 control module
• IQ4516HV Servomotor
• CC2541 2.4-GHz Bluetooth
• USB Mini-B
• PS2 wireless controller

Battery:

• Desire Power V8 11.1V 1300mAh 35C-70C 3S LiPo Battery
• Balance Battery Charger

Installation

1. Operating system: Microsoft Windows 10
   Install innoBASIC Workshop 2 commander for execute the code

The system is composed of several different parts.The innoBASIC Workshop environment which is a software utility running in the PC. The user’s program is edited with the innoBASIC editor. After editing, the program is compiled and downloaded from within this environment. Also, a Terminal Window is available as the Human Interface or Debug console. Then via the USB interface, the finished program code is downloaded to the BASIC Commander Single Board Computer.

There are three kinds of resources can be used. First is the General-Purpose I/Os, for which built-in commands are provided for sophisticated functions; second is the cmdBUSTM, where up to 32 Innovati featured Peripheral Modules can be connected. Thirdly is the debug interface, where information can be exchanged between the BASIC Commander and the innoBASIC Workshop Terminal Window.

This system needs IBM or Compatible PC running under Windows 98 or above version/2000/ME/XP/Vista/10. A USB 1.1 /2.0 port is a must, which is essential for your program downloading and debugging.

Praogram_syntax

Below picture is the sample code

SUB and FUNCTION

A program is made up of at least one Sub procedure with the name “main”. The “Sub Main()“ statement denotes the procedure where the program starts and the program terminates when it passes to the end of the Main() procedure.

Sub Main()

   Display()

End Sub
Sub Display()

   Debug "Sub Procedure Display() has executed."

End Sub

Do...Loop Statements

If it is required to execute a program repeatedly, then one of the most efficient ways of doing so is to use the DO…LOOP command. The basic DO … LOOP command will constitute an infinite loop, with the commands enclosed by DO and LOOP to be executed forever.

Sub Main()

	Dim x As Short
	x = 1
	Do While x<5
		Debug "*"
		x+=1                 'display 4 asterisks
	Loop

	Debug CR
End Sub

If...Then...Else Statements

If the expression in the If statement is True, the statements enclosed by the If block are executed. If the expression is False, then the statements in the Else block are executed. More conditions can be evaluated by using the ElseIf statement, when each of the ElseIf expressions is evaluated.

Sub Main()

Dim a,b,Max As Integer
Debugin "Enter the First Number:", a  
Debugin "Enter the Second Number:", b 

If a < b Then
	Max = b
Else
	Max = a

End If
Debug "Max is:", Max    

End Sub

Robot_Action_Programming

1. Open the InnoBASIC Workshop 2 commander in Windows search
   
   
   

Inside the commander is the code editor.

2. Open the InnoBASIC Workshop 2 commander, we click

   
   
   

3. It will show up a window. We choose "Default" in the kit preset, and choose "Servo commander 16" in the Left used module. Press "OK".

Then, it will pop up a warning sign to warn you to check to servo motors's position. Press "OK".

4. Below is the step of using Innovation motion editor to edit the servo motors value.

(I) It represent the frame ID from 1 to 200.

(II) CH0, CH1, ....to CH15 represent individual servo motor ID. (Click the ID will activate that corresponding servo motor).

(III) It can alter the servomotor angle by adjusting the value. The angle range is from 800 to 2200.

(IV) "Time" represents the duration of the change of servo motor. The time unit is in milli-second(ms).

(V) Save the action value of the action to the PC as a ftxt file or read ftxt file from PC.

(VI) Save the action value in Innovati Servo Commander 16 control module or read the action value from Innovati Servo Commander 16 control module.

5. After editing the program, using USB Mini-B to connect computer and robot, as well as clicking "build" in the InnoBASIC Workshop 2 commander to transmit program to the robot

Preliminary_prepare

(1) servo motor

This is the picture of servo motor. (Attention: servo motor angle's range 800 to 2200)

• Maintainance:
  If the servo motor works unusual. For example: Smoke appear or stuck. Please stop using it immediately. You may condsider changing the new one or fix it.

• Position:
  There are 15 servos motors in the robot.
  The picture below is for the each servo motor corresponding to the robot.
  

  
  
  

(2) Battery

This is the picture of battery. (Attention: battery voltage's range 10.0 to 12.60V)

• Charging:
  Connect the battery with the charger

  
  
  

  The picture below is the instruction of using battery charger.

  1.Press "Stop" and choose "Lipo"

  2.Press"+" to choose the mode balance.

  3.Press "Start". When it is fully charged, the charger will ring. Please press"Stop"

  
  
  

Warnings

• 1. When we are doing robot action programming or using the robot, we should observe the temperature of servo motors whether is too high. If it is too high, stop using it or the servo motors might damaged or crashed.
• 2. The servo motors angle is from 800 to 2200. Please prevent beyonding the range.
• 3. When you observe that the servo motors cannot do action or abnormally do some weird action. Please immediatley stop using it. Try to replace a new one.
• 4. Every time before using the robot, please verify all screws have been properly fastened to avoid damages which may be caused by loosened parts.
  5. Before using the battery, please checking the battery voltage. If the voltage is less than 10V, use balance battery charger to charge it. The full voltage is 12.60V.

Check_and_start

Check the battery whether is fully charged.

Holding the PS2 controller near the robot.

Connect the battery with the robot.

Press "START" button on the PS2 controller to connect with the robot. If the robot is connected, the servo motors will be fixed. If it is not connected, the indicator red light on the PS2 controller will flash on the controller.

Here we use PS2 wireless controller to control our robot.

When it is conntected sucessfully, the robot will be stiff and the motor will be fixed as well.

Notice: These buttons can be set by ourselves!

Discussion

1. • Q: If the robot cannot walk properly in different grounds, how should I do?

   • A: Currently, we are learning how to design a robot which can adapt different kinds of environment. Now, we can adjust the robot manually.

2. • Q: Is it possible to do any action we want?

   • A: Yes, You can design any action and accomplish your ideas on your own.

3. • Q: What is the robot's application?

   • A: There exist a great numbers of applications. Currently, we complete gymnastics and so far work on the application with computer vision

4. • Q: What programming language is used?

   • A: Visual basic-like programming language.

5. • Q: How do I assembly the robot?

   • A: Please visit the website and follow the instructions.

Video

Let's try some difficult action!

Gymnastics

One-handed handstand

Jump rotation

Backwards rotation

Code

Code will be uploaded after the end of the competition

Reference

https://en.wikipedia.org/wiki/Humanoid_robot

http://robosmart.com.tw/zh-tw/classes_con.php?id=NDU=

Members

• Team members:
  Liu-Li Yuan - Yuan Ze University - International program in electrical and communication engineering department

  Cheng-Chun Chang - Yuan Ze University - International program in electrical and communication engineering department

  Ching-Hsien Hsu - Yuan Ze University - International program in electrical and communication engineering department

• Advisor:
  Po-Chiang Lin - Yuan Ze University - Professor of Electrical engineering department program B

Honor

ROBO-ONE 35TH, Japan (International Biped Robot Highest Level Open Competition) - The only group get full point in Gymnastics (Jump Rotation item).

Gratitude

We appreciate Prof. Po-Chiang Lin as our advisor.

We also appreciate those who helped us along the way