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Revolutionizing Robot Building

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robertc:
Can you provide more feedback about the humanoid robot you just bought ?
I'm wondering how are the servos working because I don't really trust these analog servos. They brake often and due to low resolution and slow response time they don't fit well into a humanoid robot. Digital ones are great but more expensive.
Do you program the movement step by step or are you using some kind of algorithm like inverse kinematics? Which one would be better ?

xaockhaos:
It is possible to run Simulink models as standalone applications in BeagleBoard and Panda Board, but not Rasberry PI.
http://www.mathworks.com/academia/pandaboard/

There is premade models in simulink for Arduino and STM32F4 but like what you had said an bluetooth / wifi connection to computer will be needed.

However the price will increase by a lot

- BeagleBoard ($149)
http://sg.mouser.com/ProductDetail/BeagleBoard-by-CircuitCo/BeagleBoard-xM/?qs=sGAEpiMZZMsi5STK09QP%252bKiOKGrBbCoZ

- PandaBoard ($181)
http://sg.mouser.com/ProductDetail/PandaBoard/UEVM4460G-02-01-00/?PandaBoard/UEVM4460G-02-01-00/&qs=sGAEpiMZZMvFPGEOwQcrY4/7rxV7jhbyK5P6Sy2KQB8=

- Arduino ($38)
- STM32F4 Discovery ( $14)


I had just tried to control the servos (946R) individually and to make it stand. It worked just fine and it is able to withstand the weight of the humanoid.
Digital servos are great but with so many servos on hand it is over my budget so i had to make do with these servo during the experimentation phase.

As for the humanoid motion i am currently implementing it on simmechanics with reference to the pdf below.
I am also going to place the IMU on the CG of the humanoid so that the robot could balance.
The simMechanics modeling is going to take some time thou.
http://www.internetjournals.net/journals/tar/2011/January/Paper%2005.pdf

Cheap IMU + Barometer  http://item.taobao.com/item.htm?spm=a1z10.3.17-5928574584.37.TLlWjQ&id=17523656949& ($20)
Work very well with arduino mega.

xaockhaos:
After researching on the above mention processor, an STM32F4 will be enough for an humanoid, quadcopter and truck.

2 main things stm32F4 is that it have digital signal processing and floating point unit (allow us to control video/voice signal and implement mathematical function better than arduino)
ARM cortex A8/A9 which is the raspberry pi, panda and beagleboard IC chip will be overkill and over complicated for this project. Although it can run standalone with matlab but there STM32F4 can be implemented without the use of matlab so an bluetooth/ wifi connection will be great but non essential.

I am currently studying electrical engineering so my strength will be designing PCB.

The light at the end of the tunnel will be a 3D modular electronics block / quadcopter/ truck / humanoid ,which the humanoid robot can assemble and disassemble easily. (Self assembly)

An a power supply module which can monitor the amount of energy consumed and navigate itself to a USB charging port. Or using photo resistors to move to place that have access to solar energy. (self sufficient)

Self navigation which is the easiest to implement just need an GPS, IMU,a few ultrasonic sensors to have coverage on each angle an last but not least a pair or a camera module.

The problems that will be obstructing the progress is
- Control of movement of humanoid robot using STM32F4
- The types of connectors between the modular block that the humanoid robot can self assemble easily.
- Assembly of quadcopter and truck.
- Assembly of humanoid robot itself (very hard problem indeed)
- Types of connectors in the interfacing circuit ( 17 PWM , 4 high power motor (for quadcopter and truck)
- How modular is 3D modular electronics board, it is quite hard for self navigating layer to control all or the sensor mention. So which are more impt and which are not.
IMU (must have)
Camera (must have)
GPS (can live without but good to have)
Ultrasonic sensors (can live without but good to have)

So that is to say all the tools i had used to create anything, the humanoid robot must be capable of controlling it.

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