Selection And Implementation Of Electric Drives And Its Control For Mobile Humanoid Robot

Document Type : Primary Research paper


1 Assistant Professor, Department of Robotics and Automation Engineering,

2 Professor, Department of Electrical and Electronics Engineering, PSG College of Technology, Peelamedu, Coimbatore, India.

3 Robotics Application Engineer, Kawasaki Heavy Industries Pvt. Ltd., Chennai, India


A robot has many components which includes a base (fixed or mobile), a
manipulator arm with several degrees of freedom, an end effector or gripper holding a part
or a tool, drives or actuators, controller with hardware and software support for giving
commands to the drives, sensors and interfaces connecting the robotic subsystems to the
external world. This paper describes the selection of the motors and the drives for the
Mobile Humanoid Robot Prototype-I (MHRP-I). The robot has totally 28 degrees of
freedom (DOF) in that head has 2 DOF (pitch and roll), arm has 7 DOF, torso has 4 DOF
and base platform has 8 DOF. The detailed selection procedure of the motors is presented.
The ATmega 8 microcontroller is used for the motor control and the Modbus is used for
the communication between the motors.