Humanoid Robot Project – SURALP

Sabancı University Robotics Research Laboratory Platform


SURALP is a walking humanoid robot platform designed at Sabanci University - Turkey. The kinematic arrangement of the robot consists of 29 independently driven axes, including legs, arms, waist and a neck. This paper presents the highlights of the design of this robot and experimental walking results. Mechanical design, actuation mechanisms, sensors, the control hardware and algorithms are introduced. The actuation is based on DC motors, belt and pulley systems and Harmonic Drive reduction gears. The sensory equipment consists of joint encoders, force/torque sensors, inertial measurement systems and cameras. The control hardware is based on a dSpace digital signal processor. A smooth walking trajectory is generated. A variety of controllers for landing impact reduction, body inclination and Zero Moment Point (ZMP) regulation, early landing trajectory modification, and foot–ground orientation compliance and independent joint position controllers are employed. A posture zeroing procedure is followed after manual zeroing of the robot joints. The experimental results indicate that the control algorithms developed  are successful in achieving a stable walk on flat and inclined surfaces. Force and visual control techniques are implemented for object manipulation other environmental interaction tasks too.


The project started on : 1 July 2006.
The project ended on : 30 June 2009.
Research is still in continuation with the humanoid robot.
Duration: Three years.
Funding: TUBITAK Project Grant 106E040

Primary Investigator: Kemalettin Erbatur

Graduate Students:

Utku Seven

Evrim Taşkıran

Özer Koca

Metin Yılmaz

Faculty Researchers:

Mustafa Unel

Güllü Kızıltaş

Asif Sabanovic

Ahmet Onat

 

Dimensions:

 

 

Kinematic arrangement:

 

 

 

 

 

 

 

 

 

 

 


Timeline:

January 2008
The leg module of the robot and the trunk is assembled.

suralp

May  2008
The leg module walks.

June 2008
The platform is named SURALP for Sabancı University Robotics Research Laboratory Platform.
The leg module is named SURALP-L.

July 2008 Video
suralp-L picture 2

 

 

January 2009 Pictures

 

August 2009 videos

SURALP walks with Zero Moment Point based reference trajectories

 

Walk on uneven surfaces with Zero Moment Point based reference trajectories.

 

SURALP pushes the wall and re-establishes balance.

 

Object manipulation, force and vision feedback

 

Arm, waist and neck motion