Design and Development Part 2 of Dexto:Eka: - The Humanoid Robot Sulabh Kumra Department of Electronics and Instrumentation Engineering ITM University Gurgaon, India Mayumi Mohan Department of Computer Science Engineering and IT ITM University Gurgaon, India Sumit Gupta and Himanshu Vaswani Department of Electronics and Communication Engineering ITM University Gurgaon, India Abstract- Through this paper, we elucidate the second phase of the design and development of the tele-operated humanoid robot Dexto:Eka:. Phase one comprised of the development of a 6 DoF left anthropomorphic arm and left exo-frame. Here, we illustrate the development of the right arm, right exo-frame, torso, backbone, human machine interface and omni-directional locomotion system. Dexto:Eka: will be able to communicate with a remote user through Wi-Fi. An exo-frame capacitates it to emulate human arms and its locomotion is controlled by joystick. A Graphical User Interface monitors and helps in controlling the system. Keywords- teleoperation, humanoid, robot control, human machine interface, anthropomorphic I. INTRODUCTION In the never-ending quest for mechanization, automation and cybernation, the field of robotics claim precedence over others amalgamating all three factors with impeccability. Robots have played an integral role in assisting human beings in every sphere of life. The allure of today lies in humanoid robots and their anthropomorphic capabilities. Perhaps within the span of a decade or two, a humanoid robot can be expected to become a part of every household, aiding in daily chores. Not only at home but also in offices, factories, hospitals etc., these robots can easily integrate themselves into society. Through the means of this paper, we present the second phase of the design and development of ‘Dexto:Eka: - The Humanoid Robot’. The robot at its present stage of development can be seen in Fig. 1. Our main objective is to achieve tele-presence. Dexto:Eka: is capable of omni- directional movement and has arms of 6 degrees of freedom each [1]. This enables the robot to navigate compact spaces and irregular environments. The first phase saw the development of an anthropomorphic robotic arm of six degrees of freedom. Second phase involved the development of the torso and chassis of the robot along with an easy to use human machine interface and right robotic arm. A robot such as this has diverse applications, from traversing uncharted terrain to bomb detection and diffusion, this nifty robot promotes safety and simplicity [2]. They can play an integral role in inter-planetary missions where they would be used for explorations or in preparing a landing site for subsequent operations. In high radiation zones and nuclear power plants these resourceful beings can work in conditions unsuitable to humans. Fig. 1 Dexto:Eka: II. RELATED WORK Robots that can co-exist with humans and perform variegated tasks have been a source of intrigue for several research groups worldwide. Some notable robots like ASIMO [3], iCub [4], WABIAN-2 [5] and its successor SABIAN [6] have truly changed the universe of humanoid robots. But a major setback in most of the humanoids developed today is the extremely high cost in production. This challenge needs to be overcome if the dream of “one robot per home” is to be met. Thus at every stage of design, we aimed to identify the most versatile components that can be purchased at very low costs. When developing the human machine interface and robotic arm, an optimised design which provided enough freedom of movement had to be chosen. The exoskeleton presented by Joel C. Perry [7] presents an interesting option for the choice of DOFs. Hence, we opted for 6 of the most common movements made by the human arm. A biped robot was an intriguing design option but as highlighted by Mike Stilman[8], bipeds may develop safety and stability issues. Hence a quest for an ideal locomotion system which can move in every possible direction ended in the choice of the Omni-directional mecanum wheel drive. Another trying task would be to choose the ideal controller to that can handle the entire system. The tele- operated humanoid presented in [9] uses the Arduino Fio 867 978-1-4673-5560-5/13/$31.00 ©2013 IEEE Proceedings of 2013 IEEE International Conference on Mechatronics and Automation August 4 - 7, Takamatsu, Japan