Historically, research and development in robotics primarily focused on fixed robots used in industrial settings to boost manufacturing efficiency and effectiveness. However, many tasks, such as hazardous area surveying, can’t be performed by fixed robots. Currently, leading academic institutions worldwide, including MIT, Harvard, Stanford, and Waseda University (Japan), are increasingly investing in and developing mobile robots that use bipedal (two-legged) locomotion. Even major car manufacturers like HONDA have poured billions of Yen into researching and creating the renowned “HONDA HUMANOID ROBOT,” demonstrating the high agility of bipedal mobile robots and their ability to navigate areas inaccessible to wheeled robots.

The Field Robotics Institute (FIBO) at King Mongkut’s University of Technology Thonburi recognizes the significance of developing Humanoid Robot technology in Thailand, particularly in areas like real-time three-dimensional balancing. FIBO plans to research and build a bipedal prototype robot by expanding upon dynamic analysis methods such as Thomas R. Kane’s principles, ZMP (Zero Moment Point), Gravity Reaction Force, and Conservation of Energy. Additionally, knowledge from Vision Systems, Image Processing, and Artificial Intelligence will be integrated to enhance the robot’s locomotion stability. We are also preparing research into Mobility to enable the robot to move omnidirectionally on uneven surfaces, ensuring stable walking. This research focuses on theoretical development and practical validation using a real prototype robot with articulated legs, each having six degrees of freedom.

Our research plan includes
– Studying Biomechanics theory to identify suitable parameters for designing the mechanical mechanisms of the bipedal prototype robot.
– Conducting research on the Mobility and Dexterity of the bipedal prototype robot.
– Designing Passive Real-Time and Active Real-Time control systems.
– Integrating a Vision System with the robot to assist in pre-adjusting walking posture using Artificial Intelligence theory.

We are currently analyzing the Kinematic and Dynamic models as shown in Figure 1. This initial approach involves analysis based on a Lump Mass Model. This humanoid prototype will be the first robot of its kind in Thailand initiated and developed by FIBO, aiming to disseminate this new technology. The research outcomes will highlight the potential in automation systems, primarily stemming from fundamental analysis.