Three-dimensional simulation environment for the development of a humanoid robot

With the latest advances in robotic technology it is forecasted that humanoid robots will not only exist in the production industry but will also assist us in normal daily life. These developments have led the developed countries to put more investment in robot technology and thus, the research on robots have gained a considerable amount of pace. Two legged humanoid robots that can act as human beings can be used in multiple environments. They are being planned to be operated in manufacturing plants where the environment is hazardous to the worker, but these robots can also be utilized in military, the entertainment sector, at home, restaurants and hotel where they will operate as robot servants. The costs of producing hardware in robotics have led the researchers to execute their projects first in the software realm, and thus several robotics programs have been developed for this use. The producers can model their robots in specific roles with the help of these programs, and MATLAB/Simmechanics program is one them. The Denavit-Hartenbeg Approach is used in the modeling of the whole system and in robots? forward/backward kinematics design. The Langrange-Euler equation is the most used equation in robotic Dynamics. These dynamic equations are mostly used in the background for forward/backward Dynamics of robots, but with the Simmechanics help, the designer can avoid highly sophisticated equations in modeling their design, easing off their workload. The objective of this study is to understand the existing kinematic analysis of two legged creatures in the nature, their controls and real time system application functions. The planned controller for the humanoid robot will be operating with fuzzy logic and wedge sliding techniques. With the help of the models produced prior to real applications, the errors, problems and possible requests by the designer from the robot can be analyzed and studied thoroughly.