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Hardware Improvement of Cybernetic Human HRP-4C for Entertainment Use

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Hardware Improvement of Cybernetic Human HRP-4C for Entertainment Use 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems September 25-30, 2011. San Francisco, CA, USA Hardware Improvement of Cybernetic Human HRP-4C for Entertainment Use Kenji KANEKO, Fumio KANEHIRO, Mitsuharu MORISAWA, Tokuo TSUJI, Kanako MIURA, Shin’ichiro NAKAOKA, Shuuji KAJITA and Kazuhito YOKOI Abstract — Hardware improvement of cybernetic human HRP-4C for entertainment is presented in this paper. We coined the word “Cybernetic Human” to explain a humanoid robot with a realistic head and a realistic figure of a human being. HRP-4C stands for Humanoid Robotics Platform–4 (Cybernetic human). Its joints and dimensions conform to average values of young Japanese females and HRP-4C looks very human-like. We have made HRP-4C present in several events to search for a possibility of use in the entertainment industry. Based on feedback from our experience, we improved its hardware. The new hand, the new foot with active toe joint, and the new eye with camera are introduced. 1. Introduction Up to now, several bipedal humanoid robots [1-17] have been developed. Currently, research on bipedal humanoid robots is one of the most exciting topics. It is no Fig. 1. Cybernetic human HRP-4C improved with exaggeration to say that the great success of HONDA new hands, an active toe joint, and a new eye with camera humanoid robot triggered the world’s research on humanoid robots [1-4]. However, the applications achieved by the current bipedal humanoid robots have been limited. so-called 3D jobs (dirty, dangerous and demanding), we Especially, those of human-size humanoid. developed HRP-3 equipped with dust-proof and drip-proof New ASIMO (Advanced Step in Innovative MObility) capabilities as well as precise motion [7]. Although HRP-3 was revealed in 2004 while the first ASIMO made it’s debut was developed as the succeeding model of HRP-2, the use of in 2000. New ASIMO showed us the capability of running at HRP-3 is limited and HRP-3 has been also used as a 6 [km/h] on December 13, 2005 [4]. New ASIMO as well as platform of R&D in our institute. the first ASIMO is presented in events, gives us a high-tech Korea Advanced Institute of Science and Technology stage show highlighting ASIMO’s unique capabilities, and (KAIST) also developed several humanoid robots. The latest goes on TV as an advertisement ambassador. model: HUBO2 (KHR-4) has a capability of running at 3.24 We have developed several HRP series humanoid robots [km/h] [8]. About 8 units have been used as a platform of with the collaboration of private companies. HRP-2 was R&D internationally so far. developed in 2002 to show the possibility of working From this introduction, it is so hard to figure out the humanoid robots [5, 6]. As a humanoid robotics platform for practical application of current bipedal humanoid robots. R&D, about 20 HRP-2’s have been put into use Though they have been used as a platform of R&D, and internationally so far. To show the potential for use in the have played as an advertisement ambassador showing the state of the art of each institute. To overcome this situation, Manuscript submitted to 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. we thought that one practical application for them would be K. Kaneko, F. Kanehiro, M. Morisawa, K. Miura, S. Nakaoka, S. the entertainment industry, such as exhibitions and fashion Kajita, and K. Yokoi are with Humanoid Research Group, Intelligent shows, provided the robots can move very realistically like Systems Research Institute, National Institute of Advanced Industrial humans. For this reason, we developed HRP-4C [9] and Science and Technology (AIST), 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan (e-mail: {k.kaneko, f-kanehiro, m.morisawa, made HRP-4C to present in several events to search for a kanako.miura, s.nakaoka, s.kajita, kazuhito.yokoi } @aist.go.jp). possibility of use in the entertainment industry [18]. Based T. Tsuji is with Vision and Manipulation Research Group, on our experience in demonstrating at various events, we Intelligent Systems Research Institute, AIST, 1-1-1 Umezono, improved the hardware of HRP-4C (see Fig. 1). Tsukuba, Ibaraki 305-8568, Japan (e-mail: [email protected]). 978-1-61284-455-8/11/$26.00 ©2011 IEEE 4392 The rest of this paper is organized as follows; after another exception of deformation policy 1), because of the looking back on the design concepts and principal development delay. specification of HRP-4C in Section 2, we introduce the The principal specifications of HRP-4C, which was first overview of the events in which HRP-4C was presented in released to the press on March 16, 2009, are as follows. Section 3. We present the new hand, the new foot with toe HRP-4C is 1580 [mm] high and has 8-DOF face, 3-DOF joint, and the new eye, which have been improved from the neck, 6-DOF for each arm, 2-DOF for each hand, 3-DOF original. We examine these modifications in Sections 4, 5 waist, and 6-DOF for each leg, no toe joints, and 42-DOF in and 6 respectively. total. 2. Design Concepts of HRP-4C 3. Trials of HRP-4C Since applications in the entertainment industry such as a The HRP-4C has presented in several events in search of fashion model or the master of ceremony are leading a possibility of use in the entertainment industry. Fig. 2 candidates for practical application of current bipedal shows some examples of events with HRP-4C. humanoid robots, we set the design concepts of HRP-4C as HRP-4C was first presented on the stage of a fashion follows when we developed it. show: the 8th Japan Fashion Week in Tokyo (JFW in Tokyo) which opened on March 23, 2009. The role of Design concepts: HRP-4C was master of ceremonies (MC) in the special stage A) Capability of bipedal walking named “SHINMAI Creator’s Project”. HRP-4C walked (see B) Realistic figure of an average young Japanese Fig. 2(a)), bowed and made a speech about one minute long. female Then HRP-4C turned and walked off stage. C) Configuration to imitate human-like motion In 2009 YUMI KATSURA Grand Collection in Osaka With regard to the design concept B), we referred to the (July 22, 2009), HRP-4C made the first professional catwalk anthropometry database of Japanese 1997-1998 [19], in appearance. HRP-4C wore a wedding dress made by the which the average is recorded. The data not recorded in the designer: Ms. Yumi KATSURA who is a leader of wedding database [19] is obtained by measuring a commercially dress design, as shown in Fig. 2(b). HRP-4C walked available skeleton [20]. smoothly up and down about 17 [m] each way on the In the process of the mechanical design, the principal catwalk, which was about 25 [m] long, and 6[m] wide. items were selected from among the database at designing HRP-4C then struck various poses, and gazed sidelong at the HRP-4C. The selected items were deformed as follows. delighted audience with a short speech. HRP-4C acted in a one man show in the Digital Contents Deformation policies: Expo 2009 (Oct. 22-25, 2009) as shown in Fig. 2(c). Using 1) Link length and breadth of HRP-4C are deformed the motion editor software [21], we successfully made a 5 to be from 90% to 110% of the average dimension minute motion for HRP-4C using a human actress’s motion of a young Japanese female. created by SAM who is a choreographer. HRP-4C didn’t 2) Circumference is deformed to less than 110% of the move her legs, but the way she moves her arms, head and average dimension of a young Japanese female. facial muscles were sufficiently human-like, and was also But the ankle joint height and foot size of HRP-4C are able to tell jokes. exceptions of deformation policy 1) in consideration of the In the events held in 2009 as shown in Fig. 2, we effect on putting on shoes. The dimension of hand was also received several opinions from spectators. One of them (a) Opening address (b) Fashion model (c) Actress SHINMAI Creator’s Project 2009 YUMI KATSURA DIGITAL CONTENT EXPO 2009 JFW in Tokyo Grand Collection in Osaka (Oct. 22-25, 2009) (March 23, 2009) (July 22, 2009) Fig. 2. Examples of events with HRP-4C 4393 Fig. 3. Target specifications of new hand Fig. 4. Principal dimensions of new hand based on average of young Japanese female [19, 22, 23] (Note: These values slightly change due to the condition of the elastic cover.) (Note: Draw line doesn't show the strict outline of Japanese female hand shape.) mentioned that the hand of HRP-4C was out of proportion to follows. its body. Since the dimensions of HRP-4C are set to averages of young Japanese females except for the hand as D1) Lighter hand mentioned above, we decided that this opinion was worth D2) Capability of creating dance performance motion taking into consideration. We then developed the new hand It is ideal for entertainment use to imitate human-like as presented in Section 4. Another opinion from spectators hand motion as close as possible. A multi-DOF fingered was that the motion of HRP-4C was not natural. Although hand is necessary to achieve this. However, there were too there were numerous causes, we thought things could be many hurdles to realize this during the initial development improved by adjusting the joint configuration of HRP-4C to of the previous hand.
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