Master thesis : Biologically-inspired architecture for a humanoid robot: from low-level hardware to elementary control

Abstract

The Montefiore Team aims to participate in the KidSize category of the RoboCup competition, in which humanoid robots play soccer matches. Achieving this challenge requires a robust and fully integrated platform capable of human-inspired locomotion.

This thesis focuses on the development of every layer of a custom-made robot, following a bottom-up approach. At the hardware-level, we completed two custom electronic boards: the RM-28 servomotor board integrating motor control, various sensors and a CAN channel, and the multifunction board distributing the power throughout the robot and orchestrating a periodic CAN cycle for the communication with the servomotors, as well as a USB connection with the motherboard.

The software embedded in the servomotors includes three elementary PID controllers to drive the motors in position, velocity, and torque, which were validated in a real environment demonstrating good reference tracking.

The logic of the motherboard is organised into software units that handle state management, data processing, and reflex execution. A bio-inspired locomotion system is developed with control units, similar to human neurons, which are stimulated and inhibited to produce human-like motion.

Based on an experiment in a real physical environment, the elementary control of the servomotors effectively reproduced the human adaptation to the ground. This validates that all developed layers operate correctly together as an integrated system.

This thesis provides a solid and operational foundation on which future contributors can build toward the long-term goal of having a custom-made robot play soccer matches.