VIDEO: Humanoid Robot \”Hubert 2010\”

I am creating a stationary multi-axis Humanoid Robot that I call the “Hubert 2010.”  Here are the details:

Humanoid robots have been in development for many years and with advances in closed-loop industrial automation technology (Sensors, motion control, pneumatics, PLC’s, & PAC’s) the possibility of using household humanoid robots to help us with daily tasks is becoming an ever closer possibility.

Thanks to companies like Automation Direct, some fortunate finds on Ebay, and company contributions it has been possible to create a potentially advanced and expensive project like mine on a reasonable budget.  I originally was going to drive my humanoid robot with a Parallax basic stamp and interface it with an old Allen Bradley solid state DC output card.  Given the limited capability of the basic stamp to execute multiple functions simultaneously and it’s limited drive current, it would have been unpractical to complete my project using the basic stamp… After months of research I stumbled across AutomationDirect’s CLICK PLC.  Yes, it is practically free and it offers advance functions and unsurpassed simplicity for beginning users of PLC’s.  This little guy is great and pack an unexpected punch of PLC power.

I first purchased a basic CPU model of the CLICK PLC and then upgraded to the more recent analog version of the CLICK PLC.  Within 30 days of working with the CLICK PLC I became fluent with the controller and was already automating my project.  Currently I am driving my robot using the “DRUM” instruction in a “Time Based Mode.”  In order to prevent this robot from crashing I will need a closed loop control system incorporating several different sensors, multi-valving pneumatic techniques and advanced PLC math to serve as a solution to the operation of my Humanoid Robot.

One of the initial challenges of my humanoid robot was the mechanics.   How could I get one multi-axis joint to move without it affecting the movement of another adjoining multi-axis joints?  How can I make everything move with a full range of motion and eliminate binding of each actuator?  How can I electrically control it not to move in a certain direction when lets say its leaning at a 45 degree angle?  There are many challenges presented in such an advanced project and Automation Direct has many of the tools I need to help me with these challenges.  For example, take a look at AutomationDirect’s new line of  ”Nitra” Pneumatics.

If you look at my YouTube video you will see a lot of motion and dancing around of pneumatic components.  At this point it’s hard to make sense of all the motion.  Try to envision a neck, head, arms, and hands when observing this robot in motion.  The video only shows the shoulder “Shrug,” “Pectoral in-out,” and  ”Waist twist” left and right movements.”  But if you look closely you can see that I have already built-in the ability to lean left and right as well as forward and backwards.  At this point I have not yet automated these functions as I am working to incorporate additional sensors for the necessary closed loop control circuitry.

I am using various switches and sensors including: fiber, inductive proximity, capacitive, pezio, laser, and limit switches.  It is also important to utilize flow control  (or “speed controllers” as they are known in the pneumatically world) to ensure the appropriate pressures.  I plan to use a planetary gear assembly and stepper motor to control the arm & lift action of the shoulders when the arms are finished.  Servo motors will be used to finely control the head and neck movements when the project is complete. To complete my control project I plan to add a C-more Micro HMI to initiate the various movements and to monitor and navigate the program.

Automation Direct has all the tools and components one needs to build their own automated project(s).  I wish I had known about them sooner.   Their pricing make possible the  growth of innovation by DIY engineers on a limited budget such as myself and many others!

Filed under: Projects