Made by: Balázs Pécskai (LogIntSys)

SIMON, the humanoid robot

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Made by: Balázs Pécskai (LogIntSys)

Introduction
First of all I would like to mention the robot’s all of softwares and
mechanical, electric parts made by me.

His name is SIMON. Simon is not a toy. He was made with the aim of
helping people. That’s why your not a modell-size humanoid. He’s a perfect
for Artifical Intelligent research and developments

He is able to imitate several human movements:

• Sitting cross legs,

• cross his arms,

• squat, etc…

The development of SIMON , a humanoid robot, was started in

2003. The first prototype with approximately height of a human body (160
cm) could not be completed because of unfavourable financial background.
In 2004 the preparation of second prototype was began. This smaller robot
(height : 74 cm, weight : 3,5 kg) was completed in March 2005..

• Main characters of SIMON v2

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Made by: Balázs Pécskai (LogIntSys)

o number of freedom : 24 (20 are controlled by PIC)

o height: 74 cm
o weight : 3,5 kg
o two arms with 3-3-movable fingers
o two eyes (100kpixels webcams)

Simon v2 was presented the public in May 2005 in the exhibition

INDUSTRIA 2005 (Budapest).
In June 2005 the development of next generation was began. That's a
more precise and professional elaboration of the version 2. Every unit is
prepared again (hardware and software, too)

• Main characters of SIMON v3

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Made by: Balázs Pécskai (LogIntSys)

o More powerful drivers -> quicker movement, bigger power

o Modular structure
o Number of freedom: 28 + his two arms 9-9 = 46 !!!
o Number of controlled freedom: 24

o Height: ~115 cm

o Weight : 6 kg
(without embedded computer, accu and plastic cover)

o Each arm has got 3 fingers

o 2 eyes for creating 3D space (stereo-optic)
o Speaker in the mouth for speaking
o Microphones behind the eyes for hearing
o 2 axis accelerometer into the body

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Made by: Balázs Pécskai (LogIntSys)

Structure
Custom designed differential drive (individual reverse differential).
3 part of fingers can embrace objects. The body is made of aluminium

Home-made plastic components:

• Gearboxes in joints made of plastic

(PVC and Teramid)

• Epoxi parts

o Fingers

o Belt-discs

• Gearboxes on servos
•

• Modified servos (Because of larger range)

• Driving with curved profile belt

Electronic

• Joints of the robot are moved by servos

• Electric Circuit System in the body of the

robot (5 pieces of PIC16F877).

• Modular structure: more PIC and Data-

processing units can be connected with
each other (Cascade structure)

• Mostly SMD electric components

• Communication with accelerometer

• Powered by table supply source

(later by accu)

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Made by: Balázs Pécskai (LogIntSys)

Software
Software on microcontrollers:

• Generation of PWM signal for servo

controlling

• Communication with PC

• Processing of accelerometer signal

Softwares on PC:

• Controlling software
• Speech software
• Voice recognizing
• Image processing of two cameras

Controlling software
Simon’s controlling extremely complex. It’s one of the most intricate
of the robotcontrolling softwares!

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Made by: Balázs Pécskai (LogIntSys)
Multilevel controlling

All types of movements helped by graphical simulator

• Direct servo positioning

• Direct to moving of joint (two servo together)

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Made by: Balázs Pécskai (LogIntSys)

• Diagramm-controlling
(all of joint positions are given position-time diagram)

• Inverse kynematics !!! Path planning

You only give the orientation and position of the arms and foot,
the software compute the orintation of joints

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Made by: Balázs Pécskai (LogIntSys)
• Coreography + Motionplanning

You can form coreography out of elements of the diagram and

inverse kynematics movement

Realtime coreography
You put the element of movement on your computer keyboard

Simulation

• Simulation of gravity

• For test of motions

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Made by: Balázs Pécskai (LogIntSys)

Voice recognizing

• Spectrum analizing
• Teacing is based on Neural network

Image processing of two cameras

• Filters
• Edgedetection
• Stereo-optic algorythm
• 3D space in simulation

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Made by: Balázs Pécskai (LogIntSys)

Summary
Unfortunately, recently use servos are weak for this structure. But
some company products perfect servos can give me a chance, that my
robot is able to stand by two legs and can walking and running.

I would like to introduce my development these companies, and I hope

Simon will be the base of the future high tech humanoid robots.

Thank for your listening!

Balázs Pécskai

LogIntSys Bt.

web: http://www.logintsys.hu/
Telefon: +36-20/395-5601
e-mail: pecskai.balazs@logintsys.hu

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