In this study, we have manufactured the control circuit of the servo motor of humanoid robot with a microcomputer board mbed, using the circuit and the operation pattern for the steering of the bicycle. When the robot held with the steering wheel both arms at both ends of the wheel and rotated it, it is derived each joint angle of both arms of the robot by solving the inverse kinematics problem of the position of the hand of the arms. I found from experiments that in some cases the joint angle of the arm is out of its appropriate range when the handle rotating large. Therefore, joints out of its appropriate range, it was possible to control the handlebar of a bicycle, making joints out of its appropriate range set to the maximum moveable joints angles, and adjusting the other joints within the range.
humanoid robot
mbed
operation pattern for the steering of the bicycle
inverse kinematics problem