**2. Related works**

Biped robots are the essential bit of humanoid robots, walking development examination is prioritized. Numerous explores happening on the creation of humanoid biped robot which is indistinguishable from an individual. Likewise, the robot relationship with individuals and headway of collaborative task are crucial perspectives that the humanoids are confronting. In these particular conditions, in the latest years, robot interactivity transformed into an essential area of examination.

Prakash Chandran, Mohit Jaswal, Dr. T.V.U Kiran Kumar and Mrs. Raji Pandurangan have introduced a biped humanoid (**Figure 2**) utilizing a microcontroller in their work distributed on International Journal of Science, Engineering and Technology Research (IJSETR). Here, the biped robot can detect sound and range distance. In this research work, they have referenced two different ways of designing humanoid robots. First is the regular spot technique where the Robot strolls in the course of action where the focal point of mass of Robot keeps moving to settle the position of the robot body. Another technique for implementing the change is using an accelerometer and gyro sensors. They chose the first strategy to adjust the structure. A sound sensor makes the Robot accept directions as voice orders. Such compound activities show utilization of open-source tasks, for example, Arduino [4].

Self-guided humanoid robot-Adhvik presented by Aditya Mishra, Ashutosh Shrivastav, Neha Maurya, S. Vamshi Krishna can perceive any red-shaded article before

**149**

**Figure 2.**

*Humanoid robot (autonomous) using Arduino.*

*Tiny Blind Assistive Humanoid Robot*

*DOI: http://dx.doi.org/10.5772/intechopen.97333*

it alongside strolling and different functionalities. The Robot is fundamentally utilized for object location and wayfinding. This functionality has been refined using a remote camera. The camera divides the red object into multiple parts. The humanoid can explore three directions: Left, Right and Straight as indicated by the position of the ball. At the point when the camera catches the picture of the ball, it partitions the casing into three and afterward humanoid moves appropriately. MATLAB programming has been done to handle the picture. It includes the contribution of the remote module [5].

Numerous scientists are working and have designed visually impaired assistive gadgets and robots to give autonomous route facilities to the visually impaired. For instance, a smart way direction robot to help blinds portrayed in the paper of M F Razali, S F Toha and Z ZAbidin distributed on IEEE International Symposium on Robotics and Intelligent Sensors (IRIS 2015) utilizes a Fuzzy Logic Controller. A sensible, quick, and trustworthy arrangement is offered by the fuzzy logic approach, which is an advantage over the ordinary controller. The straightforward

Another tiny human structured robot that is distantly controlled by means of Bluetooth is represented in the research work of Ahmet Aksoz, Salim Engin, and Mahir Dursun in the Journal of Automation and Control Engineering Vol. 4, No. 3, June 2016. Their Robot utilizes the remote correspondence innovation that empowers it to be constrained by an Android application. In a far-off area, the Robot can move freely [7]. There are numerous kinds of exploration equipped for obliging and actualizing complex theories and algorithms for dynamic strolling, human interaction, navigation, human conduct simulation, artificial intelligence, visual recognition utilizing Image recognition [8]. Biped robots using these algorithms and techniques

"IF-THEN" rule is expected to impact the activity in Fuzzy Logic [6].

*Tiny Blind Assistive Humanoid Robot DOI: http://dx.doi.org/10.5772/intechopen.97333*

*Collaborative and Humanoid Robots*

towards the end of this paper.

*Tiny humanoid strolling and moving robot.*

**2. Related works**

**Figure 1.**

area 5 shows programming mechanism and segment 6 illustrates Human-Robot Collaboration, Section 7 portrays hardware and financial requirement analysis and user opinion. Section 8 concludes this paper and references have been added

Biped robots are the essential bit of humanoid robots, walking development examination is prioritized. Numerous explores happening on the creation of humanoid biped robot which is indistinguishable from an individual. Likewise, the robot relationship with individuals and headway of collaborative task are crucial perspectives that the humanoids are confronting. In these particular conditions, in the latest

years, robot interactivity transformed into an essential area of examination. Prakash Chandran, Mohit Jaswal, Dr. T.V.U Kiran Kumar and Mrs. Raji Pandurangan have introduced a biped humanoid (**Figure 2**) utilizing a microcontroller in their work distributed on International Journal of Science, Engineering and Technology Research (IJSETR). Here, the biped robot can detect sound and range distance. In this research work, they have referenced two different ways of designing humanoid robots. First is the regular spot technique where the Robot strolls in the course of action where the focal point of mass of Robot keeps moving to settle the position of the robot body. Another technique for implementing the change is using an accelerometer and gyro sensors. They chose the first strategy to adjust the structure. A sound sensor makes the Robot accept directions as voice orders. Such compound activities show utilization of open-source tasks, for example, Arduino [4]. Self-guided humanoid robot-Adhvik presented by Aditya Mishra, Ashutosh Shrivastav, Neha Maurya, S. Vamshi Krishna can perceive any red-shaded article before

**148**

**Figure 2.** *Humanoid robot (autonomous) using Arduino.*

it alongside strolling and different functionalities. The Robot is fundamentally utilized for object location and wayfinding. This functionality has been refined using a remote camera. The camera divides the red object into multiple parts. The humanoid can explore three directions: Left, Right and Straight as indicated by the position of the ball. At the point when the camera catches the picture of the ball, it partitions the casing into three and afterward humanoid moves appropriately. MATLAB programming has been done to handle the picture. It includes the contribution of the remote module [5].

Numerous scientists are working and have designed visually impaired assistive gadgets and robots to give autonomous route facilities to the visually impaired. For instance, a smart way direction robot to help blinds portrayed in the paper of M F Razali, S F Toha and Z ZAbidin distributed on IEEE International Symposium on Robotics and Intelligent Sensors (IRIS 2015) utilizes a Fuzzy Logic Controller. A sensible, quick, and trustworthy arrangement is offered by the fuzzy logic approach, which is an advantage over the ordinary controller. The straightforward "IF-THEN" rule is expected to impact the activity in Fuzzy Logic [6].

Another tiny human structured robot that is distantly controlled by means of Bluetooth is represented in the research work of Ahmet Aksoz, Salim Engin, and Mahir Dursun in the Journal of Automation and Control Engineering Vol. 4, No. 3, June 2016. Their Robot utilizes the remote correspondence innovation that empowers it to be constrained by an Android application. In a far-off area, the Robot can move freely [7].

There are numerous kinds of exploration equipped for obliging and actualizing complex theories and algorithms for dynamic strolling, human interaction, navigation, human conduct simulation, artificial intelligence, visual recognition utilizing Image recognition [8]. Biped robots using these algorithms and techniques


#### **Table 1.**

*Comparison table of tiny humanoid with other robots.*

are further developed and effective henceforth more costly and confounded. Our project likewise expects to actualize such controlling frameworks and complicated calculations in our humanoid in the forthcoming future. **Table 1** shows the comparison between Tiny Humanoid with other robots.

### **3. Application**

Advancement of impelled humanoids is used in implementation in a tremendous extent of areas, for instance, the development industry, home applications, incitement, social protection, sport, space, education. Our small walking biped robot has features; for example, it can recognize article close to it and quit strolling movement illuminating the LED as an identifier at its top. The following situations describe the incredible use of the features.

The Robot can add to bioengineering by helping the outwardly disabled patient. Outwardly impeded individual faces troubles in exploring starting with one spot then onto the next evading object. The Robot can function as a visually impaired assistive robot all things considered. This Robot can identify objects before it utilizes the ultrasonic sensor and stops strolling by initializing the servo motors' turning estimations to its primary value alarming the visually impaired individual that there is an article close by.

The Robot additionally has features that can accelerate commercialization. People these days show more fascination towards robots. As the Robot is able to dance in a few steps, it very well may be used before amusement parks and restaurants to invite and welcome individuals with fascinating movements. Thus they can have more customers attracted to their place and accelerate business.

Children and kids are turning into the Smartphone focused step by step. It is damaging to their eyesight as they are consistently playing with a Smartphone. For them, the Robot can be an incredible apparatus to play with as it can dance and entertain them, distracting them from Smartphone.

The Robot's object recognition capacity can be utilized to guarantee a specific spot or item's safety ensures that not even a solitary item draws close to it.

Nonetheless, there are multiple purposes and utilization of this sort of humanoid Robot. The humanoid can be upgraded with different highlights, for example, talking, ignoring objects, tuning in to voice order that will without a doubt improve its Application.

**151**

*Tiny Blind Assistive Humanoid Robot*

**4. Working mechanism**

*Connection structure of tiny humanoid.*

through code.

**Figure 3.**

From **Figure 3** we can without much of a stretch comprehend the Robot's association anatomy and how the ultrasonic sensor, servo motors [1] and the LED

Each leg has been utilized using two servos. Servos are joined in a position, that the thigh servo's movement will influence the direction of the foot servo; however, the thigh servo motors are attached to the structure and are not influenced by the foot servo motor's movement. As the thigh servos are connected to the body, when the foot servo moves, it makes the route of the entire robot body alongside the thigh servo. The LED functions by coworking with the sensor

As the appropriate strolling of the Robot relies upon the turning estimations of the servo motor horns, it is must be cautious while connecting the servos realizing the underlying pivoting values. In this way, a legitimate comprehension of servo motor rotation impact on its strolling is likewise significant. Paths need to be connected in a cautious manner, such as in servos, wiring positives to voltage and

• The servo of the right foot ascents up and the servo motor right thigh turns to

negatives to the ground; otherwise, it may damage the equipment.

Biped's strolling and objects recognizing steps:

make the servos of the foot to approach.

are associated with the Arduino board (Atmega 328P).

*DOI: http://dx.doi.org/10.5772/intechopen.97333*

*Collaborative and Humanoid Robots*

Uses only four servos for

Detects obstacle and stops

Detects obstacle in 180 degree

Can dance in several steps to

strolling

strolling

view

**Table 1.**

entertain

are further developed and effective henceforth more costly and confounded. Our project likewise expects to actualize such controlling frameworks and complicated calculations in our humanoid in the forthcoming future. **Table 1** shows the com-

**Features Other mentioned robots Tiny** 

Gives notification using buzzer None of the mentioned have used. Yes.

Gives notification using LED None of the mentioned have done this. Yes.

used 6 or more.

3 robots among 5 have used four servos. Other 2 have

2 robots among 5 does this. Other 3 not defined. Yes.

Detects only in front view. Yes.

None of the mentioned have done this. Yes.

**Humanoid**

Yes.

Advancement of impelled humanoids is used in implementation in a tremendous extent of areas, for instance, the development industry, home applications, incitement, social protection, sport, space, education. Our small walking biped robot has features; for example, it can recognize article close to it and quit strolling movement illuminating the LED as an identifier at its top. The following situations

The Robot can add to bioengineering by helping the outwardly disabled patient. Outwardly impeded individual faces troubles in exploring starting with one spot then onto the next evading object. The Robot can function as a visually impaired assistive robot all things considered. This Robot can identify objects before it utilizes the ultrasonic sensor and stops strolling by initializing the servo motors' turning estimations to its primary value alarming the visually impaired individual

The Robot additionally has features that can accelerate commercialization. People these days show more fascination towards robots. As the Robot is able to dance in a few steps, it very well may be used before amusement parks and restaurants to invite and welcome individuals with fascinating movements. Thus they can

Children and kids are turning into the Smartphone focused step by step. It is damaging to their eyesight as they are consistently playing with a Smartphone. For them, the Robot can be an incredible apparatus to play with as it can dance and

The Robot's object recognition capacity can be utilized to guarantee a specific

Nonetheless, there are multiple purposes and utilization of this sort of humanoid Robot. The humanoid can be upgraded with different highlights, for example, talking, ignoring objects, tuning in to voice order that will without a doubt improve

have more customers attracted to their place and accelerate business.

spot or item's safety ensures that not even a solitary item draws close to it.

entertain them, distracting them from Smartphone.

parison between Tiny Humanoid with other robots.

*Comparison table of tiny humanoid with other robots.*

describe the incredible use of the features.

that there is an article close by.

**3. Application**

**150**

its Application.

**Figure 3.** *Connection structure of tiny humanoid.*
