Holonomic Motion Drive System of a Social Humanoid Robot SemuBot

Abstract

The perception of a humanoid robot largely depends on its ability to mimic human-like movement, including changing its position in space. This thesis conducts a comprehensive literature review of existing humanoid robot wheelbases, holonomic motion drive systems and manufacturing methods, identifying the most appropriate solution of a wheelbase for use in the social humanoid robot SemuBot. The proposed open-source wheelbase grants holonomic motion, for which omnidirectional omni-ball wheels were designed and manufactured. It can locomote in environments made for humans and traverse obstacles. An electrical system was put in place to test the capabilities of the prototype. The wheelbase is designed to be integrated with other components made for the humanoid robot SemuBot.