Proposition of New Concept of WABOT-HOUSE Laboratoty Plant Type Robots and Development of Waseda University

PLANT TYPE ROBOTS Biorobotics Flower Symposium Leaf

Fruit Alexandria, 2010.12 Hiroshi Yamakawa Branch （（（School of Creative Science &Engineering)

Root Stem WASEDA UNIVERSITY WABOT-HOUSE LABORATORY

WABOT-HOUSE Laboratory WABOT-HOUSE Laboratory

The Waseda University has introduced the humanoid robot Director ： Prof.Sugano WABOT-1 in 1973 , and it was the very first in the world. Established: 2001.12 Afterwards, we have kept our leading position in robotics Place: Gifu Prefecture in Japan research. Not only in the robotics research but also in the field Funded: Gifu Pref. & Japanese of architecture we have introduced different kinds of novel designs and innovative building methods. In the field of the govement telecommunication, which is a backbone of different kinds of Staff: 18 (Mechanical Eng. modern and postmodern technologies,Waseda University has Architecture, Art, Physics assured big success both in research and in education. As a Electric & Communication good contribution in this field we can name the Global Information and Telecommunication Institute, which is conducted through theWaseda University. Not only robotics engineers, architects or IT researchers but also fine artists take part in the WABOT- HOUSE project, and they try to design an optimal shape from robotic and architectural points of view. They are researching to realize the substantial symbiosis between humankind and robots.

1 Robot, House, City Research Areas of Yamakawa Laboratory Natural Frequency Optimum Design FEM Modal Analysis Satisficing Design BEM Passive Control Collaborative Design Truss Structure Active Control Robust Design Lahmen Structure Feedback Control Shell Structure Feed-forward Control Design Structural Dynamics Predictive Control

Vibration Mechanics Bio

Statics/Dynamics GA Adaptive Strategy Immune System Life Cycle Nonlinear Mechanics Mechanics of Materials AI Redundancies

Chaos Stress Analysis Fuzzy Approach Fractal Buckling Analysis Agent Approach Bifurcation Theory Elasto-plastic Analysis Neural Networks

Topics of interest

• Optimization and Optimum Design (Dynamic and Static Problems) • Multidisciplinary optimization • Simultaneous optimization • Optimization by applying the Artificial Intelligence ( Multi- Agents) • Optimization by applying Neural Network and Genetic Algorithm and other emerging computation • Design, Control of Space Structures (New!) ・ Analysis of Organs

2 １． Objectives ２. Leaf and Branch Modules

PLANT TYPE ROBOTS PLANT TYPE ROBOTS ・To add functions which plants have. ・ To add functions which plants do not have. ・Sensing environment ・Entertainment 葉 Leaf Leaf ・To make people comfortable and ・Solar panel good ・Shelter ・・・・・・Branch ・Absorption of CO 2 ・・・・・・

Branch Development of System by modules ①Practical Application of the modules ② Practical Application of the System 枝

2.1 Design of Leaf & Stem Modules 2.1 Design of Leaf & Branch Modules （b）Deployment and (1)Design of Leaf & Branch Modules （a）Deployment by Umbrella Type of Structures

1st Lay er Storage phase Deployed Stem During deployment 2nd Layer 展開時（受光時） in receiving light

rd Leaf 3 Layer Solar Panel

Length(cm)Length(cm) Length Total mass 0.41kg Storage 35 8 Deploy 85 27

3 （（（d）））Phote Sensor for deployment and Storage （d）ムービー

Cut Cut on/off with light Switch for extention

Dark明明暗暗明暗

Storage →Light →Extention →Length limit Switching by Photo Length縮み（遮光）伸び（受光）縮み限界伸び限界 Limit sensorDeployment →Shield →Shurinkage →Length limit

Circuit of deploying leaf

３. Stem Module 2.1 Design of Leaf & Stem Modules

PLANT TYPE ROBOTS ・Adaptive Control against External Load *Adaptive Truss Structure ・To expand functions by Changing Shapes to change shape ・・・・・・*Development of New Joints * Linear actuators

Stem

幹 Stem

4 ４. Root Module 4.1 Root Module

PLANT TYPE ROBOTS

・Autonomous Anchor （Slope, ） ・Boring （Lubrication 、Side roots ） ・Sensor under ground (Temperature, Humidity, PH, Earthquake etc) ・・・・・・

根 Root 220 mm 220

Root In 2004 In 2005

4.1 Root Module 4.2 Developed Root Module 220 mm 220

2004 年 2005 年

5 ５. Fruit Module ６. Flower Module

PLANT TYPE ROBOTS PLANT TYPE ROBOTS ・ＬＥＤ 花 ・Battery 、Transportation Flower ・Power Supply for Robots ・Data bank 、 Flower ・・・・・・

Fruit

・Fragment ・Sensor for Temperature ・Sensor for sound 実 ・Antena Fruit ・・・・・・

6.1 Design of Flower Modules 6.2 Control of Flower Modules

Dokudami Hibiscus Tulip 1. Linear Type

Shape Memory Alloy

Collaboration with Industry in Gifu Pref. Production

6 6.2 Control of Flower Modules Hibiscus

2. Ring Type

＋

電流ＯＮ

－

←形状記憶合金

Shape Memory Alloy

Dokudami (Slow) Dokudami (Fast)

7 6.3 Control of Flower Module Motion of Flower

Motion Control

Bloom

① Deployment and Storage → Gear Shrink

② Bloom and Shrink Initial Extention of Stem Bllom by Shape Memory Alloy → Shape Memory by motor Alloy

6.3 Motion Control of Flower Module 6.4 Control Circuit

Motor Driver IC MOS FET （１） Control by phote sensor

Micro computer Bloom Phote sensor Motor rotati on Shape memory Alloy （２） Breaking control

５[V] ５[V]

Motor Driver ＩＣ （３） Bloom speed control Vout GND Motor A by Shape memory alloy AKI-H8 3048F

GND ５[V] Language C MOS FET （４） Control of Stem Motion GND SMA

8 6.4 Control Circuit 6.5 Developed Module

Motor driver IC MOS FET Motor Bloom Phote sensor Shape memory alloy Rotation Motor Shrink Phote sensor Inverse rotation

５[V] ５[V]

Motor Driver ＩＣ

Vout GND Motor

GND ５[V]

MOS FET

GND SMA

Thank you !

Prof. Hiroshi YAMAKAWA (Waseda University)

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