DOCSLIB.ORG

Design and Realization of a Humanoid Robot for Fast and Autonomous Bipedal Locomotion

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Design and Realization of a Humanoid Robot for Fast and Autonomous Bipedal Locomotion TECHNISCHE UNIVERSITÄT MÜNCHEN Lehrstuhl für Angewandte Mechanik Design and Realization of a Humanoid Robot for Fast and Autonomous Bipedal Locomotion Entwurf und Realisierung eines Humanoiden Roboters für Schnelles und Autonomes Laufen Dipl.-Ing. Univ. Sebastian Lohmeier Vollständiger Abdruck der von der Fakultät für Maschinenwesen der Technischen Universität München zur Erlangung des akademischen Grades eines Doktor-Ingenieurs (Dr.-Ing.) genehmigten Dissertation. Vorsitzender: Univ.-Prof. Dr.-Ing. Udo Lindemann Prüfer der Dissertation: 1. Univ.-Prof. Dr.-Ing. habil. Heinz Ulbrich 2. Univ.-Prof. Dr.-Ing. Horst Baier Die Dissertation wurde am 2. Juni 2010 bei der Technischen Universität München eingereicht und durch die Fakultät für Maschinenwesen am 21. Oktober 2010 angenommen. Colophon The original source for this thesis was edited in GNU Emacs and aucTEX, typeset using pdfLATEX in an automated process using GNU make, and output as PDF. The document was compiled with the LATEX 2" class AMdiss (based on the KOMA-Script class scrreprt). AMdiss is part of the AMclasses bundle that was developed by the author for writing term papers, Diploma theses and dissertations at the Institute of Applied Mechanics, Technische Universität München. Photographs and CAD screenshots were processed and enhanced with THE GIMP. Most vector graphics were drawn with CorelDraw X3, exported as Encapsulated PostScript, and edited with psfrag to obtain high-quality labeling. Some smaller and text-heavy graphics (flowcharts, etc.), as well as diagrams were created using PSTricks. The plot raw data were preprocessed with Matlab. In order to use the PostScript- based LATEX packages with pdfLATEX, a toolchain based on pst-pdf and Ghostscript was used. The bibliography was prepared with biblatex. The fonts in this thesis are the light versions of the Kp-Fonts by the Johannes Kepler project. © 2010 by Sebastian Lohmeier. All rights reserved Author contact: [email protected] This thesis is also available as a printed book published by Verlag Dr. Hut München, Germany (ISBN 978-3-86853-734-5). To my parents The danger of the past was that men became slaves. The danger of the future is that men may become robots. True enough, robots do not rebel. But given man’s nature, robots cannot live and remain sane, they become ‘Golems,’ they will destroy their world and themselves because they cannot stand any longer the boredom of a meaningless life. —Erich Fromm, The Sane Society Abstract This thesis covers the mechatronic conception, design and realization of a hu- manoid walking robot. Weighing approximately 60 kg, the robot stands 180 cm tall and has 25 actuated degrees of freedom in a redundant configuration. The mechanical structure is characterized by the consistent lightweight design with high effective stiffness. The lightweight servo actuators combine high-dynamic brushless servo motors with precision gearings and sensors into a compact pack- age. Moreover, the resultant inertia of the legs is minimized by a sophisticated design of the structure and drive mechanisms, resulting in a superior acceleration behavior. The sensor layout comprises angular sensors for direct measurement of the joint angles, a high-precision inertial measurement system and force/torque sensors in the feet. Using the trajectory generation and control system which is not in the scope of this work, the current speed of locomotion is 3.34 km/h. Keywords: humanoid robots, anthropomorphic robots, legged locomotion, mecha- tronics, robot design, sensors Zusammenfassung Diese Arbeit beschreibt die mechatronische Konzeption, Konstruktion und Re- alisierung eines humanoiden Laufroboters. Der Roboter ist 180 cm groß, wiegt zirka 60 kg und verfügt über 25 angetriebene Freiheitsgrade in einer redundanten Konfiguration. Die mechanische Struktur ist durch den extremen Leichtbau mit hoher effektiver Steifigkeit charakterisiert. Die hochdynamischen Gelenkantriebe kombinieren bürstenlose Servomotoren, Untersetzungsgetriebe und Sensorik zu kompakten Einheiten. Daneben werden die Massenträgheitsmomente der Beine durch konstruktive Maßnahmen minimiert. Daraus resultiert ein überragendes Beschleunigungsverhalten. Neben Winkelsensoren zur direkten Messung der Ge- lenkwinkel verfügt der Roboter über ein hochgenaues inertiales Messsystem und Kraftsensoren in den Füßen. Mit dem Bahnplanungs- und Regelungssystem, das nicht Bestandteil dieser Arbeit ist, konnte bisher eine Maximalgeschwindigkeit von 3,34 km/h erreicht werden. Stichworte: humanoide Roboter, anthropomorphe Roboter, zweibeiniges Laufen, Mechatronik, Konstruktion, Sensorik vii Acknowledgments This thesis summarizes my research carried out at the Institute of Applied Me- chanics, Technische Universität München. Developing the humanoid robot Lola almost from scratch has been a unique opportunity and certainly one of the biggest challenges in my life so far. Many people have contributed to this thesis and I would like to use the opportunity to express my gratitude to some of them. First and foremost I want to express my deep and sincere gratitude to my advisor Professor Heinz Ulbrich for the excellent research environment and giving enough freedom for own creativity. His patience and irrefutable confidence in my skills were beneficial for the success of this research. I also wish to express my warm and sincere thanks to Professor Friedrich Pfeiffer, the former head of the institute, for a lot of good advice and ideas and many helpful discussions. I warmly thank our academic director, Dr. Thomas Thümmel, for his support and continuing commitment to the robotics group. Thomas managed our project resources and largely kept us free from most administrative and formal burdens. Starting off with only two doctoral candidates, the Lola project was divided simply into “Software” and “Hardware.” I am particularly indebted to Thomas Buschmann, my co-worker and good friend, who took over the “Software” part. His theoretically accurate and thorough works on the robot simulation and con- troller were one of the foundations for the success of the project. To me, working together with Thomas was a stroke of luck as our ways of thinking and working were quite similar and, where not, complemented each other. I really need to thank Markus Schwienbacher and Valerio Favot who joined the team in a later project phase. In his Diploma thesis Markus developed, assembled and calibrated the force/torque sensors with enthusiasm and great attention to detail. I appreciate his efforts in resolving Lola’s teething problems. Markus, thank you so much for the fruitful discussions and competent suggestions! Valerio tested the PCBs for the local controllers and wrote all the code for them. Also, special thanks are due to Mathias Bachmayer, who developed the DSP boards for Lola’s decentralized controllers. The official presentation of Lola at the HANNOVER MESSE 2010 was the grand finale before turning in this dissertation. Regarding our trade fair presence, I thank Alexander Ewald for taking over all the organizational stuff. And my thanks go to the developers of Lola’s visual perception system, Dr. Felix von Hundelshausen and Gerhard Rohe from the Institute of Autonomous Systems Technology, University of the Bundeswehr, München, for the pleasant cooperation. During my first year at the institute I have had the pleasure to work with Dr. Klaus Löffler, the developer of Johnnie’s balance controller. Klaus shared the office with me and has always been a competent and excellent advisor as I took my first tentative steps into the field of humanoid robotics. Thank you for the collaboration ix x Acknowledgments during the countless public performances of Johnnie in 2003/04. The designer of Johnnie’s mechatronic system, Dr. Michael Gienger, had already left the institute before I started. Nevertheless, he was a competent advisor and always there to discuss about biped robots. Klaus and Michael, your results and experience were more than helpful and contributed substantially to this research! I warmly need to thank Dr. Andreas Zagler for getting me excited about robotics and for encouraging me to take up this position. The countless customized mechanical and electronic components would not have been possible without the enthusiasm and willingness of the institute’s me- chanical and electronic workshops. My sincere thanks are due to Wilhelm Miller, Walter Wöß, Simon Gerer, Philipp Schneider and Tobias Schmid. I very much appreciated their amazing skills to machine even the most complex parts with unparalleled precision. Until his retirement, Walter was a great help during the as- sembly of Lola. Wilhelm Miller, the former manager of the mechanical workshop, deserves a special mention. He fostered the manufacturing with optimism and never ending perseverance. He was always there to talk about my ideas and solve any unsolvable problems concerning precision mechanics. I have fond memories of numerous discussions—be it technical or non-technical. Sadly, he was not given the time to see Lola walking: he passed away during the first weeks of assembly. I am also greatly indebted to our electronics engineer, Georg Mayr, for numerous helpful discussions and for developing most of the electronics hardware. His experience and openness for my ideas were beneficial. For this dissertation I would like to thank my proof-readers: Michael, Markus, Thomas Buschmann, Dr. Martin Schwaiger and Valerio for their time, interest and many helpful comments. I would also like to thank the other two members of my dissertation commit- tee, the second
Load more

Recommended publications
  • Science Fiction in Argentina: Technologies of the Text in A
    Revised Pages Science Fiction in Argentina Revised Pages DIGITALCULTUREBOOKS, an imprint of the University of Michigan Press, is dedicated to publishing work in new media studies and the emerging field of digital humanities. Revised Pages Science Fiction in Argentina Technologies of the Text in a Material Multiverse Joanna Page University of Michigan Press Ann Arbor Revised Pages Copyright © 2016 by Joanna Page Some rights reserved This work is licensed under the Creative Commons Attribution- Noncommercial- No Derivative Works 3.0 United States License. To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to Creative Commons, 171 Second Street, Suite 300, San Francisco, California, 94105, USA. Published in the United States of America by the University of Michigan Press Manufactured in the United States of America c Printed on acid- free paper 2019 2018 2017 2016 4 3 2 1 A CIP catalog record for this book is available from the British Library. Library of Congress Cataloging- in- Publication Data Names: Page, Joanna, 1974– author. Title: Science fiction in Argentina : technologies of the text in a material multiverse / Joanna Page. Description: Ann Arbor : University of Michigan Press, [2016] | Includes bibliographical references and index. Identifiers: LCCN 2015044531| ISBN 9780472073108 (hardback : acid- free paper) | ISBN 9780472053100 (paperback : acid- free paper) | ISBN 9780472121878 (e- book) Subjects: LCSH: Science fiction, Argentine— History and criticism. | Literature and technology— Argentina. | Fantasy fiction, Argentine— History and criticism. | BISAC: LITERARY CRITICISM / Science Fiction & Fantasy. | LITERARY CRITICISM / Caribbean & Latin American. Classification: LCC PQ7707.S34 P34 2016 | DDC 860.9/35882— dc23 LC record available at http://lccn.loc.gov/2015044531 http://dx.doi.org/10.3998/dcbooks.13607062.0001.001 Revised Pages To my brother, who came into this world to disrupt my neat ordering of it, a talent I now admire.
    [Show full text]
  • Lower Body Design of the `Icub' a Human-Baby Like Crawling Robot
    CORE Metadata, citation and similar papers at core.ac.uk Provided by University of Salford Institutional Repository Lower Body Design of the ‘iCub’ a Human-baby like Crawling Robot N.G.Tsagarakis M. Sinclair F. Becchi Center of Robotics and Automation Center of Robotics and Automation TELEROBOT University of Salford University of Salford Advanced Robotics Salford , M5 4WT, UK Salford , M5 4WT, UK 16128 Genova, Italy [email protected] [email protected] [email protected] G. Metta G. Sandini D.G.Caldwell LIRA-Lab, DIST LIRA-Lab, DIST Center of Robotics and Automation University of Genova University of Genova University of Salford 16145 Genova, Italy 16145 Genova, Italy Salford , M5 4WT, UK [email protected] [email protected] [email protected] Abstract – The development of robotic cognition and a human like robots has led to the development of H6 and H7 greater understanding of human cognition form two of the [2]. Within the commercial arena there were also robots of current greatest challenges of science. Within the considerable distinction including those developed by RobotCub project the goal is the development of an HONDA. Their second prototype, P2, was introduced in 1996 embodied robotic child (iCub) with the physical and and provided an important step forward in the development of ultimately cognitive abilities of a 2 ½ year old human full body humanoid systems [3]. P3 introduced in 1997 was a baby. The ultimate goal of this project is to provide the scaled down version of P2 [4]. ASIMO (Advanced Step in cognition research community with an open human like Innovative Mobility) a child sized robot appeared in 2000.
    [Show full text]
  • Kinematic Modeling of a Rhex-Type Robot Using a Neural Network
    Kinematic Modeling of a RHex-type Robot Using a Neural Network Mario Harpera, James Paceb, Nikhil Guptab, Camilo Ordonezb, and Emmanuel G. Collins, Jr.b aDepartment of Scientific Computing, Florida State University, Tallahassee, FL, USA bDepartment of Mechanical Engineering, Florida A&M - Florida State University, College of Engineering, Tallahassee, FL, USA ABSTRACT Motion planning for legged machines such as RHex-type robots is far less developed than motion planning for wheeled vehicles. One of the main reasons for this is the lack of kinematic and dynamic models for such platforms. Physics based models are difficult to develop for legged robots due to the difficulty of modeling the robot-terrain interaction and their overall complexity. This paper presents a data driven approach in developing a kinematic model for the X-RHex Lite (XRL) platform. The methodology utilizes a feed-forward neural network to relate gait parameters to vehicle velocities. Keywords: Legged Robots, Kinematic Modeling, Neural Network 1. INTRODUCTION The motion of a legged vehicle is governed by the gait it uses to move. Stable gaits can provide significantly different speeds and types of motion. The goal of this paper is to use a neural network to relate the parameters that define the gait an X-RHex Lite (XRL) robot uses to move to angular, forward and lateral velocities. This is a critical step in developing a motion planner for a legged robot. The approach taken in this paper is very similar to approaches taken to learn forward predictive models for skid-steered robots. For example, this approach was used to learn a forward predictive model for the Crusher UGV (Unmanned Ground Vehicle).1 RHex-type robot may be viewed as a special case of skid-steered vehicle as their rotating C-legs are always pointed in the same direction.
    [Show full text]
  • Fun Facts and Activities
    Robo Info: Fun Facts and Activities By: J. Jill Rogers & M. Anthony Lewis, PhD Robo Info: Robot Activities and Fun Facts By: J. Jill Rogers & M. Anthony Lewis, PhD. Dedication To those young people who dare to dream about the all possibilities that our future holds. Special Thanks to: Lauren Buttran and Jason Coon for naming this book Ms. Patti Murphy’s and Ms. Debra Landsaw’s 6th grade classes for providing feedback Liudmila Yafremava for her advice and expertise i Iguana Robotics, Inc. PO Box 625 Urbana, IL 61803-0625 www.iguana-robotics.com Copyright 2004 J. Jill Rogers Acknowledgments This book was funded by a research Experience for Teachers (RET) grant from the National Science Foundation. Technical expertise was provided by the research scientists at Iguana Robotics, Inc. Urbana, Illinois. This book’s intended use is strictly for educational purposes. The author would like to thank the following for the use of images. Every care has been taken to trace copyright holders. However, if there have been unintentional omissions or failure to trace copyright holders, we apologize and will, if informed, endeavor to make corrections in future editions. Key: b= bottom m=middle t=top *=new page Photographs: Cover-Iguana Robotics, Inc. technical drawings 2003 t&m; http://robot.kaist.ac.kr/~songsk/robot/robot.html b* i- Iguana Robotics, Inc. technical drawings 2003m* p1- http://www.history.rochester.edu/steam/hero/ *p2- Encyclopedia Mythica t *p3- Museum of Art Neuchatel t* p5- (c) 1999-2001 EagleRidge Technologies, Inc. b* p9- Copyright 1999 Renato M.E. Sabbatini http://www.epub.org.br/cm/n09/historia/greywalter_i.htm t ; http://www.ar2.com/ar2pages/uni1961.htm *p10- http://robot.kaist.ac.kr/~songsk/robot/robot.html /*p11- http://robot.kaist.ac.kr/~songsk/robot/robot.html; Sojourner, http://marsrovers.jpl.nasa.gov/home/ *p12- Sony Aibo, The Sony Corporation of America, 550 Madison Avenue, New York, NY 10022 t; Honda Asimo, Copyright, 2003 Honda Motor Co., Ltd.
    [Show full text]
  • Development of Open Platform Humanoid Robot Darwin-OP Inyong Ha*, Yusuke Tamura and Hajime Asama
    Advanced Robotics, 2013 http://dx.doi.org/10.1080/01691864.2012.754079 SHORT PAPER Development of open platform humanoid robot DARwIn-OP Inyong Ha*, Yusuke Tamura and Hajime Asama Department of Precision Engineering, The University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo 113-8656, Japan (Received 24 January 2012; accepted 27 March 2012) To develop an appropriate research platform, this paper presents the design method for a humanoid which has a net- work-based modular structure and a standard PC architecture. Based on the proposed method, we developed DARwIn- OP which meets the requirements for an open humanoid platform. DARwIn-OP has an expandable system structure, high performance, simple maintenance, familiar development environment and affordable prices. Not only hardware but also software aspects of open humanoid platform are discussed in this paper. Keywords: open platform; humanoid; DARwIn-OP 1. Introduction lution from E series [3]. Then, they opened the first ver- A humanoid robot is a robot that has a general structure sion of ASIMO which walked stably at 1.6 km/h to the of the human body, such as two legs, two arms, a torso, public in 2000 [4]. A new ASIMO was introduced in and a head. Although, some shapes of a humanoid robot 2005 and it could run and walk up and down stairs. Sup- may not be exactly the same as that of a human, a ported by the Ministry of Economics, Commerce and humanoid robot has a basic similar appearance and func- Industry, Japan, the HRP-2 was developed by National tions of a human.
    [Show full text]
  • Human to Robot Whole-Body Motion Transfer
    Human to Robot Whole-Body Motion Transfer Miguel Arduengo1, Ana Arduengo1, Adria` Colome´1, Joan Lobo-Prat1 and Carme Torras1 Abstract— Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interac- tion are crucial steps towards automating complex manipu- lation tasks in human-shared environments. In this work, we present a novel human to robot whole-body motion transfer framework. We propose a general solution to the correspon- dence problem, namely a mapping between the observed human posture and the robot one. For achieving real-time imitation and effective redundancy resolution, we use the whole-body control paradigm, proposing a specific task hierarchy, and present a differential drive control algorithm for the wheeled robot base. To ensure safe physical human-robot interaction, we propose a novel variable admittance controller that stably adapts the dynamics of the end-effector to switch between stiff and compliant behaviors. We validate our approach through several real-world experiments with the TIAGo robot. Results show effective real-time imitation and dynamic behavior adaptation. Fig. 1. Transferring human motion to robots while ensuring safe human- This constitutes an easy way for a non-expert to transfer a robot physical interaction can be a powerful and intuitive tool for teaching assistive tasks such as helping people with reduced mobility to get dressed. manipulation skill to an assistive robot. The classical approach for human motion transfer is I. INTRODUCTION kinesthetic teaching. The teacher holds the robot along the Service robots may assist people at home in the future. trajectories to be followed to accomplish a specific task, However, robotic systems still face several challenges in while the robot does gravity compensation [6].
    [Show full text]
  • Robots: Everywhere Around Us [A Dream Coming True]
    Institute of Electrical and Electronics Engineers (IEEE) Robotics & Automation Society Egypt Chapter Robots: Everywhere around us [A Dream Coming True] Prepared by: Dr. Alaa Khamis, Egypt Chapter Chair Presented by: Eng. Omar Mahmoud http://www.ras-egypt.org/ MUSES_SECRET:© Dr. Alaa Khamis, ORF IEEE-RE RAS Project – Egypt - Chapter© PAMI – Research Robots: Around Group –us University Everywhere of Waterloo 1/221 Outline • IEEE RAS – Egypt Chapter MUSES_SECRET:• What ORFis- REa Project Robot? - © PAMI Research Group – University of Waterloo • What is Robotics? • Science Fiction • Science Facts • Robots Today • Robots’ Future MUSES_SECRET:© Dr. Alaa Khamis, ORF IEEE-RE RAS Project – Egypt - Chapter© PAMI – Research Robots: Around Group –us University Everywhere of Waterloo 2/222 Outline • IEEE RAS – Egypt Chapter MUSES_SECRET:• What ORFis- REa Project Robot? - © PAMI Research Group – University of Waterloo • What is Robotics? • Science Fiction • Science Facts • Robots Today • Robots’ Future MUSES_SECRET:© Dr. Alaa Khamis, ORF IEEE-RE RAS Project – Egypt - Chapter© PAMI – Research Robots: Around Group –us University Everywhere of Waterloo 3/223 IEEE RAS – Egypt Chapter Established in Sept. 2011 to become the meeting place of choice for the robotics and automation community in Egypt. MUSES_SECRET:© Dr. Alaa Khamis, ORF IEEE-RE RAS Project – Egypt - Chapter© PAMI – Research Robots: Around Group –us University Everywhere of Waterloo 4/224 IEEE RAS – Egypt Chapter • Conferences & Workshops • Seminars & Webinars • Free Courses • Robotic Competitions MUSES_SECRET:© Dr. Alaa Khamis, ORF IEEE-RE RAS Project – Egypt - Chapter© PAMI – Research Robots: Around Group –us University Everywhere of Waterloo 5/225 Conferences & Workshops MUSES_SECRET:© Dr. Alaa Khamis, ORF IEEE-RE RAS Project – Egypt - Chapter© PAMI – Research Robots: Around Group –us University Everywhere of Waterloo 6/226 ICET 2012 http://landminefree.org/ http://www.icet-guc.org/2012/ MUSES_SECRET:© Dr.
    [Show full text]
  • Cybernetic Human HRP-4C: a Humanoid Robot with Human-Like Proportions
    Cybernetic Human HRP-4C: A humanoid robot with human-like proportions Shuuji KAJITA, Kenji KANEKO, Fumio KANEIRO, Kensuke HARADA, Mitsuharu MORISAWA, Shin’ichiro NAKAOKA, Kanako MIURA, Kiyoshi FUJIWARA, Ee Sian NEO, Isao HARA, Kazuhito YOKOI, Hirohisa HIRUKAWA Abstract Cybernetic human HRP-4C is a humanoid robot whose body dimensions were designed to match the average Japanese young female. In this paper, we ex- plain the aim of the development, realization of human-like shape and dimensions, research to realize human-like motion and interactions using speech recognition. 1 Introduction Cybernetics studies the dynamics of information as a common principle of com- plex systems which have goals or purposes. The systems can be machines, animals or a social systems, therefore, cybernetics is multidiciplinary from its nature. Since Norbert Wiener advocated the concept in his book in 1948[1], the term has widely spreaded into academic and pop culture. At present, cybernetics has diverged into robotics, control theory, artificial intelligence and many other research fields, how- ever, the original unified concept has not yet lost its glory. Robotics is one of the biggest streams that branched out from cybernetics, and its goal is to create a useful system by combining mechanical devices with information technology. From a practical point of view, a robot does not have to be humanoid; nevertheless we believe the concept of cybernetics can justify the research of hu- manoid robots for it can be an effective hub of multidiciplinary research. WABOT-1,
    [Show full text]
  • Hospitality Robots at Your Service WHITEPAPER
    WHITEPAPER Hospitality Robots At Your Service TABLE OF CONTENTS THE SERVICE ROBOT MARKET EXAMPLES OF SERVICE ROBOTS IN THE HOSPITALITY SPACE IN DEPTH WITH SAVIOKE’S HOSPITALITY ROBOTS PEPPER PROVIDES FRIENDLY, FUN CUSTOMER ASSISTANCE SANBOT’S HOSPITALITY ROBOTS AIM FOR HOTELS, BANKING EXPECT MORE ROBOTS DOING SERVICE WORK roboticsbusinessreview.com 2 MOBILE AND HUMANOID ROBOTS INTERACT WITH CUSTOMERS ACROSS THE HOSPITALITY SPACE Improvements in mobility, autonomy and software drive growth in robots that can provide better service for customers and guests in the hospitality space By Ed O’Brien Across the business landscape, robots have entered many different industries, and the service market is no difference. With several applications in the hospitality, restaurant, and healthcare markets, new types of service robots are making life easier for customers and employees. For example, mobile robots can now make deliveries in a hotel, move materials in a hospital, provide security patrols on large campuses, take inventories or interact with retail customers. They offer expanded capabilities that can largely remove humans from having to perform repetitive, tedious, and often unwanted tasks. Companies designing and manufacturing such robots are offering unique approaches to customer service, providing systems to help fill in areas where labor shortages are prevalent, and creating increased revenues by offering new delivery channels, literally and figuratively. However, businesses looking to use these new robots need to be mindful of reviewing the underlying demand to ensure that such investments make sense in the long run. In this report, we will review the different types of robots aimed at providing hospitality services, their various missions, and expectations for growth in the near-to-immediate future.
    [Show full text]
  • Autonomous Mobile Robots Annual Report 1985
    The Mobile Robot Laboratory Sonar Mapping, Imaging and Navigation Visual Navigation Road Following i Motion Control The Robots Motivation Publications Autonomous Mobile Robots Annual Report 1985 Mobile Robot Laboratory CM U-KI-TK-86-4 Mobile Robot Laboratory The Robotics Institute Carncgie Mcllon University Pittsburgh, Pcnnsylvania 15213 February 1985 Copyright @ 1986 Carnegie-Mellon University This rcscarch was sponsored by The Office of Naval Research, under Contract Number NO00 14-81-K-0503. 1 Table of Contents The Mobile Robot Laboratory ‘I’owards Autonomous Vchiclcs - Moravcc ct 31. 1 Sonar Mapping, Imaging and Navigation High Resolution Maps from Wide Angle Sonar - Moravec, et al. 19 A Sonar-Based Mapping and Navigation System - Elfes 25 Three-Dirncnsional Imaging with Cheap Sonar - Moravec 31 Visual Navigation Experiments and Thoughts on Visual Navigation - Thorpe et al. 35 Path Relaxation: Path Planning for a Mobile Robot - Thorpe 39 Uncertainty Handling in 3-D Stereo Navigation - Matthies 43 Road Following First Resu!ts in Robot Road Following - Wallace et al. 65 A Modified Hough Transform for Lines - Wallace 73 Progress in Robot Road Following - Wallace et al. 77 Motion Control Pulse-Width Modulation Control of Brushless DC Motors - Muir et al. 85 Kinematic Modelling of Wheeled Mobile Robots - Muir et al. 93 Dynamic Trajectories for Mobile Robots - Shin 111 The Robots The Neptune Mobile Robot - Podnar 123 The Uranus Mobile Robot, a First Look - Podnar 127 Motivation Robots that Rove - Moravec 131 Bibliography 147 ii Abstract Sincc 13s 1. (lic Mobilc I<obot IAoratory of thc Kohotics Institute 01' Crrrncfiic-Mcllon IInivcnity has conduclcd hsic rcscarcli in aTCiiS crucial fur ;iiitonomoiis robots.
    [Show full text]
  • Robot Mediated Communication
    UNIVERSITY OF THE WEST OF ENGLAND ROBOT MEDIATED COMMUNICATION: ENHANCING TELE-PRESENCE USING AN AVATAR HAMZAH ZIYAAD HOSSEN MAMODE 10/08/2015 A thesis submitted in partial fulfilment of the requirements of the University of the West of England, Bristol for the degree of Doctor of Philosophy Faculty of Environment and Technology University of the West of England, Bristol August 2015 Robot Mediated Communication: Enhancing Tele-presence using an Avatar “If words of command are not clear and distinct, if orders are not thoroughly understood, then the general is to blame.” – Sun Tzu (c. 6th century BCE) P-2 Robot Mediated Communication: Enhancing Tele-presence using an Avatar Declaration I declare that the work in this dissertation was carried out in accordance with the requirements of the University's Regulations and Code of Practice for Research Degree Programmes and that it has not been submitted for any other academic award. Except where indicated by specific reference in the text, the work is the candidate's own work. Work done in collaboration with, or with the assistance of, others, is indicated as such. Any views expressed in the dissertation are those of the author. Signed: Date: P-3 Robot Mediated Communication: Enhancing Tele-presence using an Avatar Abstract In the past few years there has been a lot of development in the field of tele-presence. These developments have caused tele-presence technologies to become easily accessible and also for the experience to be enhanced. Since tele-presence is not only used for tele-presence assisted group meetings but also in some forms of Computer Supported Cooperative Work (CSCW), these activities have also been facilitated.
    [Show full text]
  • PETMAN: a Humanoid Robot for Testing Chemical Protective Clothing
    372 日本ロボット学会誌 Vol. 30 No. 4, pp.372～377, 2012 解説 PETMAN: A Humanoid Robot for Testing Chemical Protective Clothing Gabe Nelson∗, Aaron Saunders∗, Neil Neville∗, Ben Swilling∗, Joe Bondaryk∗, Devin Billings∗, Chris Lee∗, Robert Playter∗ and Marc Raibert∗ ∗Boston Dynamics 1. Introduction Petman is an anthropomorphic robot designed to test chemical protective clothing (Fig. 1). Petman will test Individual Protective Equipment (IPE) in an envi- ronmentally controlled test chamber, where it will be exposed to chemical agents as it walks and does basic calisthenics. Chemical sensors embedded in the skin of the robot will measure if, when and where chemi- cal agents are detected within the suit. The robot will perform its tests in a chamber under controlled temper- ature and wind conditions. A treadmill and turntable integrated into the wind tunnel chamber allow for sus- tained walking experiments that can be oriented rela- tive to the wind. Petman’s skin is temperature con- trolled and even sweats in order to simulate physiologic conditions within the suit. When the robot is per- forming tests, a loose fitting Intelligent Safety Harness (ISH) will be present to support or catch and restart the robot should it lose balance or suffer a mechani- cal failure. The integrated system: the robot, chamber, treadmill/turntable, ISH and electrical, mechanical and software systems for testing IPE is called the Individual Protective Ensemble Mannequin System (Fig. 2)andis Fig. 1 The Petman robot walking on a treadmill being built by a team of organizations.† In 2009 when we began the design of Petman,there where the external fixture attaches to the robot.
    [Show full text]