Humanoid robots – Present State and Future Trends Peter Kopacek Vienna University of Technology Intelligent Handling and Robotics – IHRT [email protected]
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Humanoid robots – Present State and Future TrendsPeter Kopacek
Vienna University of TechnologyIntelligent Handling and Robotics – IHRT
Introduction
Dream to build a robot which looks and works like human-beingAncient Chinese and PersianLeonardo Da Vinci Cinema
– Terminator, Robocops, that have even better capabilities than human-being
IntroductionFrom engineering view point, human- being
– Locomotion,– Navigation– Handling– Recognition– Sensing (5 senses)– Intelligent and autonomous system– Etc.
Example, walking– Human-being, with muscles with our inner sensors– Robot, motors and gears and also sensors
Research on Humanoid Robot
1970 – 1980 : – Research on biped walking
To realize the stable Biped walking mechanismIntroduction of ZMP (Zero Moment Point)Waseda University ( WABOT 1), Tokyo University, HONDA
History1980 – 2000
– Greenman (USA)– WABOT 2 (Waseda University, Japan)– COG (MIT)– Wendy (Waseda University, Japan) – P2 (Honda), 1986
2000 M2 (MIT), SDR-3X, QRIO (SONY), P3, ASIMO (Honda)2002 HRP-2 (AIST, Japan)2004 KHR-2, HUBO (KAIST, Korea), Toyota (Japan)
Humanoid robotsResearch humanoid robots
– Developed by more than 1000 research institutes as well as universities
– With less budget as well as man powerProfessional humanoid robots
– For own PR purpose to promote the product, like Honda, Toyota
– More budget and man power
Research Humanoid RobotWABIAN – Waseda University, Japan
Research robot „COG“ - MIT
HRP-2 (AIST, Japan)Development (1998 – 2002)1539 mm x 621 mm x 355 mm58 Kg30 DOF
– 6 DOF / each leg– 6 DOF / each arm– 2 DOF / each hand– 2 DOF Waist– 2 DOF Head
Sensor– Acceleration sensor– 6 axis force sensor for ankle and wrist– Three cameras (head)– DC servo motor with harmonic drive– NIMH Battery (48 V, 18AH)
Capability to stand up by itself
HOAP
Johnny Walker – Univ. of Western Australia
Vision, Japan
390 mm2,2 KgOmni-vision system
– 380000 pixels– 2o cm high
7000 Euroswww.vstone.co.jp
„Professional“ humanoid RobotsASIMO (Honda)SDR-5X (SONY)QRIO(SONY)TOYOTA…
Relatively expensiveFor own PR purpose„Closed“ Software
ASIMO (Advanced Step in Innovative Mobility)
1200 mm x 450 mm x 440 mm53 KgMax. Speed : 3 km/hDC Servo Motors and Harmonic DriveNiMH (38.4 V, 10 Ah)Visual and speech recognition300000 USD
QRIO (SONY)580 mm x 260 mm x 190 mm6.5 KgIntelligent Servo Actuator (own development)38 DOF
– 6 DOF /each leg– 5 DOF / arm– 5 DOF /hand– 2 DOF body– 4 DOF Neck
CPU 64 bit RISC ProcessorOS : Aperios2 CCD Camera7 Microphone
– Detect the direction of the source
Image and Voice recognitionWireless LANReal time adaptive control algorithm for 38 motors
QRIO (SONY)
HONDA & TOYOTA
Why car companies buildthe humanoid robot?Why did TOYOTA buildhumanoid robot?
TOYOTA
There was a car fair in Japan, to present new cars.HONDA presented ASIMO.All media people went to the HONDA.Toyota started developing humanoid robot secretly for three years.
Robot Band, Toyota
EXPO 2005 AICHI, Japanwww.expo2005.or.jp
Network Controlled Humanoid RobotMAHRUKIST (Korea Institute of Science and Technology)Intelligence get from the networkHeight : 150 cmWeight : 67 KgWalking Speed : 0.9 km/hImage, Voice recognitionUsable for guide robot in museum
HUBOKAIST, 2004125 cm high, 56 Kg1.25 km/h41 DOF
– 6 DOF /leg– 6 DOF/arm– 5 DOF/hand– 2 DOF Neck– 2 DOF /eye– 1 DOF Waist
Sensors– 3 axis force/torque sensors– CCD Camera– Pressure sensor (Finger tip)
Main Computer– Windows XP with Realtime Linux
Distributed Control system (CAN)Power Supply : 300W NiMHOperating time : 90 Min.
Face
Neutral Angry
Astonished Sad
Valery, (USA)
Humanoid robot eventsRobot soccer
– FIRA HuroSotRobot DashObstacle runPenalty Kick
– RoboCup Humanoid LeaguePenalty KickGameObstacle run
Battle– Robo-One
Research on Humanoid Robot
Walking mechanismSensor based Artificial Intelligence
– Vision system– Speech recognition, synthesis– Man-Machine Interaction
Humanoid Robot
Technical Problems– Stability– Real time Control– Image processing– Intelligent and Autonomous behavior– Walking Mechanism– Sensor system
One example - RoboSapienRoboSapienAbout 100 Euro (R$ 330)Controller
– PDA with CameraProblem
– Getting information about the PDA Information processing.
PINO
http://www.pinoworld.com
Robot Kit
2 small microphones for voice recognition1 loud speaker for communicating with the environment1 amplifier
Audio2 small CMOS-camera-modulesImage Processing
PDA Module which communicates with the main processorImage Processing + Audio Control
Ultrasonic, Temperature, Acceleration, Pressure, ForceSensors
PDA Module More than 32 MB SDRAM400 MHzWindows CE or LinuxSerial Interface
CPU + Main Microcontroller(Coordination of the joints +
sensor processing without audiocontroland image processing)
1 Head, 2 Legs, 2 Arms, 1 TorsoComponents
ARCHIE
ARCHIE
Aluminium, PlasticsMaterial of the body
For each component at least one microcontroller, e.g.: a Basic Stamp Joint Control (Control of the Drives)
For each DOF a mini motor with a gear unit (up to 70 kg moment of force) or a servoDrives
Leg six DOF: two for the ankle (left and right of the feet, up and down of the feet), one to lift off the leg, one for the knee (to bend the leg), two for the hip (one for rotating and the other one for putting the leg left or right)Arm four DOF: two for the shoulder section (one for lifting off the arm and the other one for rotating), two for the elbow (for bending the arm and for rotating the forearm)Head two DOF: one for rotating the head, one for up and down movement of the headTorso two DOF :one for the shoulder section, one for the hip sectionHand six DOF: one fixed finger and two fingers with 3 DOF
Joints
System time of the PDA ModuleClock
An Example - Joint
A Joint of “ARCHIE”
First design study - Legs
Mechanics
33 DoF foot mechanismDoF foot mechanism–– TibotalareanTibotalarean jointjoint–– TalonaviculareanTalonavicularean ……–– MetatarsophalangeMetatarsophalange
AnthropomorphismAnthropomorphism
Electronics
ForceForce latticelattice perceptionperceptionCoP trajectory processingCoP trajectory processing
Outlook
True humanish gaitHeal strike detection anddampingPush-off performance
Floor scanningPerception forced reflexesTerrestrial locomotion
Demonstration
Hier 8 – 12 Folien von Archie (Putz)
Roots of Archie
Soccer robots: Roby Speed, Roby NaroRoby Space
Roby-Naro & Roby-Speed
Roby-Sandwich & Roby-Insect
Roby-Junior
Roby Space I and II
Flight path
Start facilities
Reusability
European Waste from Electric and Electronic Equipment (WEEE) concept
Two major topics:– to support the development of products with minimised
environmental impact during the whole the life cycle (Eco-design)
– to demonstrate an eco-efficient way to close the material and component loop (End-of-Life Management)
Relation between complexity and Economy
Conclusion & future perspective
The number of Humanoid robots is growing rapidly.Only few real industrial applications.At the moment only for demonstration purposes or for service application, museum guide, film, etc.
Conclusion & future perspectivePlatform and System (HW/SW)
– Integrated control system in HW and SWSensor and Actuator
– MEMS, NanotechnologyAutonomous Walking
– Stable walking in rough terrainArtificial Intelligence and recognition
– Face, voice recognitionHuman-Machine InterfaceSafety
Conclusion & future perspective
Usability and commercialization– Operating time
More than 5 hours per battery chargeFuel cell, LIIO and other battery types
– PayloadAbout 30 kg
– PriceAbout 20,000 USD
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