Sensors in design and control of an autonomous humanoid robot

Humanoid robot “HR-1” is developed at Texas A&M University, Kingsville with range sensors to determine obstacle distance and also touch sensors for robot-object clash detection. Force sensor incorporation also provides feedback of an object’s weight under HR-1 feet or palm. A camera mounted on humanoid robot helps in visual capabilities and processes in addition to a gyro- meter placed at the hip junction to help provide information on the angular velocity relative to three axes. This research presents autonomous humanoid robot HR-1 design and future implementation of several forms of sensors to perceive the world around it. These sensors are quantized, and placed at points on HR-1 based on known properties and expected robot perception. Also, the sensors are connected to a microcontroller which can be interfaced to a computer for environmental data readout and desired future control. This research also presents the model of a sharp infrared (IR) Sensor in Simulink which gives guidelines to setting up other kinds of sensors using the data sheet. An experiment showing a setup of sharp IR sensor and Arduino connection for robot-obstacle distance data acquisition is also displayed