DOCSLIB.ORG

Ph. D. Thesis Stable Locomotion of Humanoid Robots Based

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Ph. D. Thesis Stable Locomotion of Humanoid Robots Based Ph. D. Thesis Stable locomotion of humanoid robots based on mass concentrated model Author: Mario Ricardo Arbul´uSaavedra Director: Carlos Balaguer Bernaldo de Quiros, Ph. D. Department of System and Automation Engineering Legan´es, October 2008 i Ph. D. Thesis Stable locomotion of humanoid robots based on mass concentrated model Author: Mario Ricardo Arbul´uSaavedra Director: Carlos Balaguer Bernaldo de Quiros, Ph. D. Signature of the board: Signature President Vocal Vocal Vocal Secretary Rating: Legan´es, de de Contents 1 Introduction 1 1.1 HistoryofRobots........................... 2 1.1.1 Industrialrobotsstory. 2 1.1.2 Servicerobots......................... 4 1.1.3 Science fiction and robots currently . 10 1.2 Walkingrobots ............................ 10 1.2.1 Outline ............................ 10 1.2.2 Themes of legged robots . 13 1.2.3 Alternative mechanisms of locomotion: Wheeled robots, tracked robots, active cords . 15 1.3 Why study legged machines? . 20 1.4 What control mechanisms do humans and animals use? . 25 1.5 What are problems of biped control? . 27 1.6 Features and applications of humanoid robots with biped loco- motion................................. 29 1.7 Objectives............................... 30 1.8 Thesiscontents ............................ 33 2 Humanoid robots 35 2.1 Human evolution to biped locomotion, intelligence and bipedalism 36 2.2 Types of researches on humanoid robots . 37 2.3 Main humanoid robot research projects . 38 2.3.1 The Humanoid Robot at Waseda University . 38 2.3.2 Hondarobots......................... 47 2.3.3 TheHRPproject....................... 51 2.4 Other humanoids . 54 2.4.1 The Johnnie project . 54 2.4.2 The Robonaut project . 55 2.4.3 The COG project . 56 2.4.4 The Einstein-HUBO humanoid project . 57 2.4.5 Toyota Partner Robots . 58 2.4.6 The Rh-1 humanoid project . 60 2.4.7 Humanoid entertainment robots . 61 3 Human locomotion study. The stabilily of biped locomotion 65 3.1 Human biomechanics . 66 3.1.1 Kinematics .......................... 66 3.1.2 Human locomotion . 67 ii CONTENTS iii 3.1.3 Anthropomorphic human dimensions, volume and weight distribution .......................... 71 3.1.4 Human walking trajectories . 74 3.2 Biped locomotion stability criteria . 77 3.2.1 Zero Moment Point (ZMP) . 77 3.2.2 Foot-Rotation Indicator (FRI) Point . 84 3.2.3 Universal stability criterion of the foot contact of legged robots: Contact Wrench Cone (CWC) . 88 3.2.4 Comparison between the biped locomotion stability criteria 94 4 Study of humanoid robot gaits 96 4.1 Passive and active walking . 97 4.1.1 Passive walking . 97 4.1.2 Active walking . 98 4.2 Static and dynamic gait . 99 4.2.1 Staticgait........................... 99 4.2.2 Dynamicgait ......................... 100 4.3 Gait generation models . 100 4.3.1 Jointspacemethod. 101 4.3.2 Virtual forces model . 102 4.3.3 Mass distributed models . 103 4.3.4 Pattern generator of a humanoid robot, taking into ac- count the Contact Wrench Cone (CWC) . 105 4.3.5 Two Masses Inverted Pendulum Mode (TMIPM) . 108 4.3.6 The Multiple Masses Inverted Pendulum Mode (MMIPM) 110 4.3.7 Mass concentrated models . 112 4.3.8 The 2D Inverted pendulum model . 112 4.3.9 Laws of motion of a 3D Inverted pendulum model . 115 4.3.10 Cart-table model . 121 4.3.11 Discussion about inverted pendulum and cart-table models 125 5 Gait generation method 129 5.1 Outline ................................130 5.2 Layers of the “Gait generation” method . 130 5.3 Layer 1: Global motion . 131 5.4 Layer 2: Local motion - “Local Axis Gait” algorithm . 132 5.4.1 Swing foot motion . 132 5.4.2 Local axis gait algorithm . 135 5.5 Layer 3: Motion Patterns Generation-“COG and ZMP” references 136 5.6 Cases of applying layers 1 to 3 . 137 5.7 Layer 4: Kinematics and dynamics modelling . 139 5.7.1 Background of screw theory, Paden-Kahan subproblems andliegroups......................... 140 5.7.2 Whole-body humanoid kinematics model . 146 5.7.3 Forward kinematics . 148 5.7.4 Inverse kinematics . 150 5.7.5 Inversedynamics ....................... 153 5.8 Layer 5: Off-line control . 157 5.9 AcyclicGait.............................. 163 5.9.1 Relatedwork ......................... 164 CONTENTS iv 5.9.2 Problem Statement . 165 5.9.3 Overview of the Method . 165 5.9.4 Upperbodymotion ..................... 167 5.9.5 Whole body motion . 168 6 Results 173 6.1 Rh-1 specifications . 174 6.2 HRP-2 specifications . 176 6.3 Simulation and Experimental results . 179 6.3.1 Simulation results on the Rh-1 humanoid robot platform . 179 6.3.2 Experimental results on Rh-1 humanoid robot platform . 184 6.3.3 Simulation and Experimental results on HRP-2 humanoid robotplatform ........................ 204 7 Conclusions, contributions and future works 218 7.1 Conclusions .............................. 218 7.2 Contributions............................. 223 7.3 Futurework.............................. 225 Appendices 228 A Human COG projection and ZMP Measure system 229 B Distribution of masses and inertias of medium human 239 List of Figures 1.1 Industrial robots working in a factory. 3 1.2 Estimated yearly supply of industrial robots at year’s end in the world by main industries 2005 - 2006. 4 1.3 Someservicerobots. ......................... 5 1.4 Chart of service robots in Japan. 6 1.5 Examples of services robots. University Carlos III of Madrid, some Roboticslab service robots: ROMA 2 (climbing robot for inspection), Manfred (mobile manipulator), ASIBOT (Portable assistive robot), Maggie (Personal social robot). 7 1.6 Service robots in space. 8 1.7 The General Electric Walking Truck and Hirose Lab walking robots. 13 1.8 The General Electric Hardiman. 14 1.9 Humanoid robot cooperating with human in open-air tasks. 16 1.10 Wheels and tracks with external spokes. 16 1.11 Triangular clusters of wheels for stair climbing. 17 1.12 Variable geometry tracked vehicles. 17 1.13 Virtual K9 driving over a synthetic rock. 17 1.14 Artist’s simulation of a Mars Exploration Rover at work on Mars. 18 1.15 The WorkPartner robot, with hybrid wheel-leg locomotion system. 19 1.16 Active Cord Mechanism - Revision 1 (ACM-R1), which is a wire- less controlled snake-like robot. 20 1.17 Relative leg-length and maximum relative speed of various planar biped robots. (A) A copy of McGeer’s planar passive biped robot walking down a slope. (B) “Mike”, similar to McGeer’s robot, but equipped with pneumatic actuators at its hip joints. Thus it can walk half-passively on level ground. (C) “Spring Flamingo”, a powered planar biped robot with actuated ankle joints. (D) “Rabbit”, a powered biped with four degree-of-freedom and point feet. (E) “RunBot”. (F) The world record for the fastest human’s walking speed ( c Manoonpong et. al. [81]). 26 1.18 The human-like shape of a humanoid robot affords emotional feelings useful for friendly communication with humans. 29 1.19 A humanoid robot can work in an environment designed for hu- mans. It can do dirty and demanding jobs, dangerous jobs (Bio- terror, SARS, etc.) . 30 1.20 A humanoid can expand its ability by using machines and equip- mentthatweusenow......................... 30 1.21 Some applications of humanoid robots. 31 v LIST OF FIGURES vi 2.1 Metropolis and the Bicentennial Man. 36 2.2 The main humanoid robot research groups. 38 2.3 The bipeds WL-1 and WL-3. 39 2.4 The bipeds WAP-1, WAP-2 and WAP-3. 40 2.5 The bipeds WL-1, WL-5, WL-9 and WL-10. 41 2.6 The arms WAM-1, WAM-2 and WAM-4. 42 2.7 ThearmsWAM-7andWAM-8L. 42 2.8 Computer-Aided Design System for Link Mechanisms, Artificial LimbsandRobotics. ......................... 43 2.9 The WABOT-1 and WABOT-2 humanoid robots. 44 2.10 The WABIAN and WABIAN RV humanoid robots. 46 2.11 The WABIAN 2R humanoid robot. 47 2.12 The ASIMO humanoid robot history [58]. 48 2.13 A Honda humanoid robot P1 (1.820m and 210 Kg). 50 2.14 The New ASIMO humanoid robot. 51 2.15 The HRP-2P humanoid robot [3]. 52 2.16 The HRP-2, HRP-3 and HRP-3P humanoid robots. 53 2.17 The Johnnie humanoid robot. 55 2.18 a) COG and b) Robonaut humanoid robots. 57 2.19 The Einstein-Hubo humanoid robot, the HUBO Lab humanoid. 58 2.20 The Toyota Partner Robots concept. 59 2.21 The Toyota humanoid robots. 59 2.22 The Rh-1 humanoid robot, the University Carlos III of Madrid humanoid................................ 61 2.23 The QRIO robot, the SONY humanoid, and HOAP-3, the Fujitsu humanoid................................ 62 2.24 The evolution of HONDA humanoid robots. 63 2.25 The evolution of the Kawada-AIST humanoid robots. 64 2.26 The evolution of the WASEDA humanoid robots. 64 3.1 Human motion planes c NASA[90]. ................ 66 3.2 The gait cycle, (Reprinted, with permission, from a chapter by V.T. Inman et al., which appeared on page 26 of Human Walking, edited by Rose and Gamble and published by Williams Wilkins, Baltimore, MD; 1981.)........................ 67 3.3 The gait cycle has two phases: about 60-percent stance phase and about 40-percent swing phase with two periods of double support which occupy a total of 25 to 30 percent of the gait cycle. 68 3.4 Relationship between the tasks of gait and the phases of gait. 69 3.5 The vertical force shows the five phases of gait at stance event. Normally it exceeds body weight at two intervals, [21]. 70 3.6 (a) Pelvic rotation effectively extends the trailing and advancing support points. (b) Pelvic tilt reduces vertical displacement of thecenterofmass,[21].
Load more

Recommended publications
  • Artificial Intelligence: Soon to Be the World’S Greatest Intelligence, Or Just a Wild Dream? Edward R
    Johnson & Wales University ScholarsArchive@JWU Academic Symposium of Undergraduate College of Arts & Sciences Scholarship 3-22-2010 Artificial Intelligence: Soon to be the world’s greatest intelligence, or just a wild dream? Edward R. Kollett Johnson & Wales University - Providence, [email protected] Follow this and additional works at: https://scholarsarchive.jwu.edu/ac_symposium Part of the Artificial Intelligence and Robotics Commons, Arts and Humanities Commons, Nanoscience and Nanotechnology Commons, and the Social and Behavioral Sciences Commons Repository Citation Kollett, Edward R., "Artificial Intelligence: Soon to be the world’s greatest intelligence, or just a wild dream?" (2010). Academic Symposium of Undergraduate Scholarship. 3. https://scholarsarchive.jwu.edu/ac_symposium/3 This Research Paper is brought to you for free and open access by the College of Arts & Sciences at ScholarsArchive@JWU. It has been accepted for inclusion in Academic Symposium of Undergraduate Scholarship by an authorized administrator of ScholarsArchive@JWU. For more information, please contact [email protected]. Artificial Intelligence: Soon to be the world’s greatest intelligence, or just a wild dream? Edward Kollett Johnson & Wales University Honors Program 2009 Edward Kollett, Page 2 Artificial Intelligence is a term, coined by John McCarthy in 1956, that “in its broadest sense would indicate the ability of an artifact to perform the same kinds of functions that characterize human thought processes” (“Artificial Intelligence”). Typically, it is used today to refer to a computer program that is trying to simulate the human brain, or at least parts of it. Attempts to recreate the human brain have been a goal of mankind for centuries, but only recently, as computers have become as powerful as they are now, does the goal of a fully automated robot with human intelligence and emotional capabilities seems to be within reach.
    [Show full text]
  • A Code of Ethics for Robotics Engineers
    A CODE OF ETHICS FOR ROBOTICS ENGINEERS An Interactive Qualifying Project Report Submitted to the faculty of WORCESTER POLYTECHNIC INSTITUTE In partial fulfillment of the requirements for the Degree of Bachelor of Science By: Brandon Ingram Daniel Jones Andrew Lewis Matthew Richards Advisors: Professor Lance Schachterle Professor Charles Rich 3/6/2010 Code of Ethics for Robotics Engineers 2 Abstract This project developed a draft code of ethics for professional robotics engineers by researching into the fields of robotics, ethics and roboethics to develop the necessary understanding. The code was drafted and presented to students, professors and professionals for feedback and revision. The code is now hosted at the Illinois Institute of Technology’s Center for the Study of Ethics in the Professions website (ethics.iit.edu), and is open for discussion at (rbethics.lefora.com). It is being proposed for adoption to the WPI Robotics Program faculty and the WPI Robotics Engineering Honors Fraternity, Rho Beta Epsilon. Acknowledgements In addition to our advisors, we would like to thank all have helped in researching and developing this code of ethics, either by providing feedback or information. Those that helped on campus include: John Sanbonmatsu, Kent Rissmiller, Michael Gennert, Brad Miller, Aaron Holroyd, Brian Benson, Elizabeth Alexander, Ciarán Murphy, Phi Sigma Kappa, Phi Kappa Theta, the WPI Robotics Faculty and Rho Beta Epsilon. Those off campus include: P.W. Singer, Martin Sklar, Jim Mail, Ronald Arkin, and Kelly Laas. Code of Ethics
    [Show full text]
  • Control in Robotics
    Control in Robotics Mark W. Spong and Masayuki Fujita Introduction The interplay between robotics and control theory has a rich history extending back over half a century. We begin this section of the report by briefly reviewing the history of this interplay, focusing on fundamentals—how control theory has enabled solutions to fundamental problems in robotics and how problems in robotics have motivated the development of new control theory. We focus primarily on the early years, as the importance of new results often takes considerable time to be fully appreciated and to have an impact on practical applications. Progress in robotics has been especially rapid in the last decade or two, and the future continues to look bright. Robotics was dominated early on by the machine tool industry. As such, the early philosophy in the design of robots was to design mechanisms to be as stiff as possible with each axis (joint) controlled independently as a single-input/single-output (SISO) linear system. Point-to-point control enabled simple tasks such as materials transfer and spot welding. Continuous-path tracking enabled more complex tasks such as arc welding and spray painting. Sensing of the external environment was limited or nonexistent. Consideration of more advanced tasks such as assembly required regulation of contact forces and moments. Higher speed operation and higher payload-to-weight ratios required an increased understanding of the complex, interconnected nonlinear dynamics of robots. This requirement motivated the development of new theoretical results in nonlinear, robust, and adaptive control, which in turn enabled more sophisticated applications. Today, robot control systems are highly advanced with integrated force and vision systems.
    [Show full text]
  • 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]
  • Robotic Pets in the Lives of Preschool Children
    Robotic pets in the lives of preschool children Peter H. Kahn, Jr., Batya Friedman, Deanne R. Pérez-Granados and Nathan G. Freier University of Washington / Stanford University / University of Washington This study examined preschool children’s reasoning about and behavioral interactions with one of the most advanced robotic pets currently on the retail market, Sony’s robotic dog AIBO. Eighty children, equally divided between two age groups, 34–50 months and 58–74 months, participated in individual sessions with two artifacts: AIBO and a stuffed dog. Evaluation and justification results showed similarities in children’s reasoning across artifacts. In contrast, children engaged more often in apprehensive behavior and attempts at reciprocity with AIBO, and more often mistreated the stuffed dog and endowed it with animation. Discussion focuses on how robotic pets, as representative of an emerging technological genre, may be (a) blurring foundational ontological categories, and (b) impacting children’s social and moral development. Keywords: AIBO, children, human–computer interaction, human–robot interaction, moral development, social development, Value Sensitive Design Animals have long been an important part of children’s lives, offering comfort and companionship, and promoting the development of moral reciprocity and responsibility (Beck & Katcher, 1996; Kahn, 1999; Melson, 2001). Yet in recent years there has been a movement to create robotic pets that mimic aspects of their biological counterparts. In turn, researchers have begun to ask important questions. Can robotic pets, compared to biological pets, provide children with similar developmental outcomes (Druin & Hendler, 2000; Pérez-Granados, 2002; Turkle, 2000)? How do children conceive of this genre of robots? It is a genre that some researchers have begun to refer to as “social robots” (Bartneck & Forlizzi, 2004; Breazeal, 2003): robots that, to varying degrees, have some constellation of being personified, embodied, adaptive, and autonomous; and Interaction Studies 7:3 (2006), 405–436.
    [Show full text]
  • Robotic Pets in Human Lives: Implications for the Human–Animal Bond and for Human Relationships with Personified Technologies ∗ Gail F
    Journal of Social Issues, Vol. 65, No. 3, 2009, pp. 545--567 Robotic Pets in Human Lives: Implications for the Human–Animal Bond and for Human Relationships with Personified Technologies ∗ Gail F. Melson Purdue University Peter H. Kahn, Jr. University of Washington Alan Beck Purdue University Batya Friedman University of Washington Robotic “pets” are being marketed as social companions and are used in the emerging field of robot-assisted activities, including robot-assisted therapy (RAA). However,the limits to and potential of robotic analogues of living animals as social and therapeutic partners remain unclear. Do children and adults view robotic pets as “animal-like,” “machine-like,” or some combination of both? How do social behaviors differ toward a robotic versus living dog? To address these issues, we synthesized data from three studies of the robotic dog AIBO: (1) a content analysis of 6,438 Internet postings by 182 adult AIBO owners; (2) observations ∗ Correspondence concerning this article should be addressed to Gail F. Melson, Depart- ment of CDFS, 101 Gates Road, Purdue University, West Lafayette, IN 47907-20202 [e-mail: [email protected]]. We thank Brian Gill for assistance with statistical analyses. We also thank the following individuals (in alphabetical order) for assistance with data collection, transcript preparation, and coding: Jocelyne Albert, Nathan Freier, Erik Garrett, Oana Georgescu, Brian Gilbert, Jennifer Hagman, Migume Inoue, and Trace Roberts. This material is based on work supported by the National Science Foundation under Grant No. IIS-0102558 and IIS-0325035. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the National Science Foundation.
    [Show full text]
  • Sony Corporation – Restructuring Continues, Problems Remain
    BSTR/361 IBS Center for Management Research Sony Corporation – Restructuring Continues, Problems Remain This case was written by Indu P, under the direction of Vivek Gupta, IBS Center for Management Research. It was compiled from published sources, and is intended to be used as a basis for class discussion rather than to illustrate either effective or ineffective handling of a management situation. 2010, IBS Center for Management Research. All rights reserved. To order copies, call +91-08417-236667/68 or write to IBS Center for Management Research (ICMR), IFHE Campus, Donthanapally, Sankarapally Road, Hyderabad 501 504, Andhra Pradesh, India or email: [email protected] www.icmrindia.org BSTR/361 Sony Corporation – Restructuring Continues, Problems Remain “Seven out of eight years, Sony has failed to meet its own initial operating profit forecast. This is probably the worst track record amongst most major exporters. That means that either management is not able to anticipate challenges … or they fail on execution almost every time. Either way, it does not reflect well on Sony’s management.”1 - Atul Goyal, Analyst, CLSA2, in January 2009. SONY IN CRISIS, AGAIN In May 2009, Japan-based multinational conglomerate, Sony Corporation (Sony) announced that it posted its first full year operating loss since 1995, and only its second since 1958, for the fiscal year ending March 2009. Sony announced annual loss of ¥ 98.9 billion3, with annual sales going down by 12.9% to ¥ 7.73 trillion. Sony also warned that with consumers worldwide cutting back on spending in light of the recession, the losses could be to the extent of ¥ 120 billion for the year ending March 2010 (Refer to Exhibit IA for Sony‘s five year financial summary and Exhibit IB for operating loss by business segment).
    [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]
  • 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]
  • Robonaut 2 Fact Sheet
    National Aeronautics and Space Administration Robonaut 2 facts NASA Almost 200 people from 15 countries have visited the International Space Station, but the orbiting complex has only had human crew members – until now. Robonaut 2, the latest generation of the Robonaut astronaut helpers, launched to the space station aboard space shuttle Discovery on the STS-133 mission in February 2011. It is the fi rst humanoid robot in space, and although its primary job for now is demonstrating to engineers how dexterous robots behave in space, the hope is that, through upgrades and advancements, it could one day venture outside the station to help spacewalkers make repairs or additions to the station or perform scientifi c work. R2, as the robot is called, was unpacked in April and powered up for the first time in August. Though it is currently being tested inside the Destiny laboratory, over time both its territory and its applications could expand. Initial tasks identified for R2 include velocity air measurements and handrail cleaning, both of which are simple but necessary tasks that require a great deal of crew time. R2 also has a taskboard on which to practice flipping switches and pushing buttons. Over time, the robot should graduate to more complex tasks. There are no plans to return R2 to Earth. History Work on the first Robonaut began in 1997. The idea was to build a humanoid robot that could assist astronauts on tasks in which another pair of hands would be helpful or to venture forth to perform jobs either too dangerous for crew members to risk or too mundane for them to spend time on.
    [Show full text]
  • Talk with a Robot
    Talk With A Robot With its small, portable, travel size, kids and adults will love to bring it around to play with. Type a custom snippet or try one of the examples. Though, it was an improvement over the depressing white/black, its charm wore out pretty quickly. © 2014 Steve Worswick. “When the robot was active, people tended to respond and give feedback to whatever the robot was doing, saying ‘Wow!’, ‘Good job. Python 100. Typically, a chat bot communicates with a real person, but applications are being developed in which two chat bots can communicate with each other. We started with some of the key features. Human Robot Intelligent That Can Talk Dance Sing Watch Home Smart Humanoid Robot For Kids Education , Find Complete Details about Human Robot Intelligent That Can Talk Dance Sing Watch Home Smart Humanoid Robot For Kids Education,Human Robot Intelligent,Human Robots,Robots That Can Talk from Toy Robots Supplier or Manufacturer-Shenzhen Yuanhexuan Industrial Co. Another communication method I want to talk about is XMLRPC, which stands for XML-formatted Remote Procedure Call. The bots have hammers attached to micro servos that they use to hit targets on the other robot. Two human look-a-like robots invented by Japanese engineers. Unemployment. The site Cleverbot. Choose a material for your robot. Typically, a chat bot communicates with a real person, but applications are being developed in which two chat bots can communicate with each other. Slideshow ( 2 images ). Type a custom snippet or try one of the examples. In this week’s Tech Talk podcast: Brian Stelter discusses recent hacks on major Web sites and the author of a new book on robots discusses what is to come.
    [Show full text]