AA HumanoidHumanoid RobotRobot thatthat hashas Two,Two, ThreeThree oror FourFour FeetFeet

HiroHiro HirukawaHirukawa HumanoidHumanoid RoboticsRobotics GroupGroup IntelligentIntelligent SystemsSystems InstituteInstitute AIST,AIST, JapanJapan

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 1/50 QuestionQuestion ofof thethe SphinxSphinx

„ WhichWhich animalanimal hashas oneone voice,voice, butbut two,two, threethree oror fourfour feetfeet beingbeing slowestslowest onon three?three?

„ OedipusOedipus gavegave thethe rightright answer,answer, ““ManMan””..

„ ThisThis lecturelecture givesgives anotheranother rightright answer,answer, i.e.i.e. ““humanoidhumanoid robotrobot”” thatthat cancan movemove onon two,two, threethree oror fourfour feet.feet.

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 2/50 WhyWhy Humanoids?Humanoids?

„ WhyWhy not?not?

- = biped

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 3/50 WhyWhy notnot biped?biped?

„ TheThe bipedbiped locomotionlocomotion isis moremore thanthan enough.enough. „ AA wheelchairwheelchair needsneeds barrierbarrier freefree environment.environment.

„ TheThe bipedbiped locomotionlocomotion isis unstable.unstable. „ WhyWhy dondon’’tt youyou crawlcrawl everyevery day?day? „ ASIMOASIMO cancan runrun now.now. TheThe problemproblem willwill bebe fixed.fixed.

„ TheThe bipedbiped robotrobot isis expensive.expensive. „ Really?Really? ItIt’’ss onlyonly aa problemproblem ofof ## ofof motors.motors.

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 4/50 ThreeThree ReasonsReasons toto supportsupport HumanoidsHumanoids

„ HumanoidsHumanoids havehave shapesshapes likelike humans.humans.

„ HumanoidsHumanoids cancan useuse thethe toolstools thatthat areare designeddesigned forfor humans.humans.

„ HumanoidsHumanoids cancan movemove inin thethe environmentenvironment thatthat isis designeddesigned forfor humans.humans.

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 5/50 HumanoidsHumanoids havehave shapesshapes likelike humans.humans.

[Kokoro Dreams 2005]

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 6/50 BipedBiped DinosaurDinosaur RobotRobot

[AIST & NEDO 2005]

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 7/50 DinosaurDinosaur RobotRobot shouldshould havehave thethe ShapeShape likelike aa Dinosaur!Dinosaur!

[AIST & NEDO 2005]

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 8/50 HumanoidHumanoid DriverDriver

[KHI, Tokyu Construction, AIST 2003]

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 9/50 HumanoidsHumanoids cancan movemove thethe environmentenvironment forfor humanshumans

[Mitsubishi Heavy Industries, 2003]

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 10/50 HumanoidsHumanoids cancan movemove inin thethe environmentenvironment forfor humanshumans

„ ImpliesImplies thatthat „ WalkingWalking onon aa flatflat floorfloor andand roughrough terrainterrain „ GoingGoing upup andand downdown stairsstairs andand laddersladders „ LyingLying down,down, crawlingcrawling andand gettinggetting upup „ FallingFalling downdown safelysafely andand gettinggetting upup „ OpeningOpening andand closingclosing doorsdoors

„ HumanoidsHumanoids movemove onon two,two, threethree oror fourfour feet.feet.

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 11/50 HRPHRP--22 walkswalks onon aa RoughRough TerrainTerrain

Gap < ±20 mm Slope < 5%

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 12/50 GoingGoing upup stairsstairs whilewhile catchingcatching aa handrailhandrail (Three(Three feet)feet)

[Harada et al. 2004]

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 13/50 LyingLying downdown andand GettingGetting upup

[Kanehiro et al. 2003] Hiro Hirukawa The Onassis Found ation Lecture Series 2006 14/50 CrawlingCrawling toto gogo throughthrough aa narrownarrow spacespace (Four(Four feet)feet)

[Harada et al. 2004]

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 15/50 UkemiUkemi:: FallingFalling MotionMotion ControlControl

[Fujiwara et al. 2003]

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 16/50 HumanoidsHumanoids cancan movemove thethe environmentenvironment forfor humanshumans

„ ImpliesImplies thatthat „ WalkingWalking onon aa flatflat floorfloor andand roughrough terrainterrain „ GoingGoing upup andand downdown stairsstairs andand laddersladders „ LyingLying down,down, crawlingcrawling andand gettinggetting upup „ FallingFalling downdown safelysafely andand gettinggetting upup „ OpeningOpening andand closingclosing doorsdoors

„ HumanoidsHumanoids movemove onon two,two, threethree oror fourfour feet.feet.

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 17/50 HowHow werewere thethe motionsmotions realized?realized?

„ MechanismMechanism

„ SensorsSensors

„ DesignDesign

„ ControlControl (the(the SecondSecond Class)Class)

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 18/50 TheThe AnatomyAnatomy ofof H7H7 [U[U ofof Tokyo]Tokyo]

http://www.jsk.t.u-tokyo.ac.jp/research/h7/index-j.html

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 19/50 TheThe AnatomyAnatomy ofof aa LegLeg ofof H7H7

Yaw Crotch Yaw 20W

Crotch Roll 90W

Crotch joints

Roll Crotch Pitch 90W Pitch

Knee Pitch 150W Knee joint

Pitch Ankle Pitch 90W

Ankle joints Ankle Roll 90W

Roll DC servomotors Toe joint Pitch

Pitch From “Robot Anatomy” Hiro Hirukawa The Onassis Found ation Lecture Series 2006 20/50 HipHip JointJoint Body Harmonic

Servomotor drive

Servomotor encoder

encoder front

Pitch joint

Harmonic drive

Japan Pat No.2592340

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 21/50 HarmonicHarmonic DriveDrive

„Reduces 6,000-10,000 rpm of a motor to 20-100 rpm of a joint. „Usual gears are too heavy and have too much backlash.

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 22/50 ThinThin andand LightLight HarmonicHarmonic DriveDrive

Thickness: 50% Weight: 65% off

Conventional Harmonic New Harmonic

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 23/50 ServoServo DriverDriver ModuleModule

Required Specifications for Humanoid Robots • The size should be compact. • The maximum current should be very large.

Controllable Axes 2-Axes Independently

Output Current Max. 20 [A]

Size 95Almost [mm] ×15%65 [mm] of ×Product15 [mm]

Weight 120Almost [g] 33%inc. plate ofof heat Product conduction

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 24/50 HowHow werewere thethe motionsmotions realized?realized?

„ MechanismMechanism

„ SensingSensing

„ DesignDesign

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 25/50 AttitudeAttitude SensorsSensors

Accelerometer - Linear acceleration - Temperature drift

Gyroscope - Angular velocity -Drift

Both sensors are used to find the angular velocity of the body

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 26/50 ForceForce SensorSensor atat aa FootFoot

Rubber bush

6-axis force sensor Rubber sole The rubber bush protects force sensor from impact at touchdown. It is also important to make the force control stable.

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 27/50 MechanismMechanism ofof thethe FootFoot

Six-Axis Force Sensor

Rubber Bush

Foot Sole Plate

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 28/50 StereoStereo CamerasCameras

[HRP-2 Prototype, 2002]

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 29/50 MicrophoneMicrophone ArrayArray

Eight pieces of Microphone for a Cellar Phone With Noise Reduction Processor

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 30/50 HowHow werewere thethe motionsmotions realized?realized?

„ MechanismMechanism

„ SensingSensing

„ DesignDesign

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 31/50 DesignDesign ofof MovableMovable RangeRange ofof JointsJoints Sitting onto the floor Sitting to a chair Static walk

Climbing stairs Descending stairs

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 32/50 HipHip PitchPitch JointJoint

Motions Hip Pitch Joint (0) Standard Human -125 deg. to +15 deg. － ＋ (a) Sitting on the Floor -89 deg. to 0 deg. (b) Taking a sheet -135 deg. to 0 deg. (c) Walking Straight -67 deg. to +42 deg. (d) Going up Stairs -81 deg. to +25 deg. (e) Going down Stairs -60 deg. to -9 deg. Requested -135 deg. to +42 deg. Movable Range

Left Leg

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 33/50 RollRoll AxesAxes andand YawYaw AxisAxis — Roll Axes Side Step Motions ¾ 40 [cm] Step, Flat Floor ¾ 30 [cm] Step, Rough Terrain

Hip Roll -45 to +25 [deg.] Ankle Roll -20 to +35 [deg.]

— Yaw Axis

Hip Yaw -45 to +45 [deg.]

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 34/50 DynamicDynamic SimulationSimulation ofof WalkingWalking

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 35/50 HRPHRP--2L2L

358 574 HRP-2L

Upper Leg Length: 300 [mm] Lower Leg Length: 300 [mm] 120

9

.

2 Ankle Length: 91 [mm]

1

4

1

0

0

5

3

4 9 Weight of Each Leg: 8.6 [kg/Leg]

0

0 3 D.O.F.: 12 D.O.F. [Hip: 3 D.O.F., Knee: 1 D.O.F., Ankle: 2 D.O.F.]

1

9 190

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 36/50 ActuatorsActuators andand GearsGears forfor HRPHRP--2L2L

JointJoint ActuatorActuator RatioRatio ofof HarmonicHarmonic HipHip RollRoll DCDC 9090 [W][W] 1:1601:160 PitchPitch DCDC 9090 [W][W] 1:1201:120 YawYaw DCDC 2020 [W][W] 1:1601:160 KneeKnee PitchPitch DCDC 150150 [W][W] 1:1601:160 AnkleAnkle RollRoll DCDC 7070 [W][W] 1:1601:160 PitchPitch DCDC 9090 [W][W] 1:1601:160

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 37/50 WalkingWalking ExperimentExperiment ofof HRPHRP--2L2L

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 38/50 HRPHRP--2A2A -- DesignDesign ofof thethe UpperUpper BodyBody

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 39/50 HumanoidHumanoid RobotRobot HRPHRP--2P2P

[Kawada Industrties & AIST 2002]

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 40/50 MechanicalMechanical FeaturesFeatures

¾ Compact & Light Weight with 30 D.O.F.

¾ No Backpack

¾ Waist Joint

¾ Cantilever Crotch Joint

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 41/50 SensorsSensors andand BatteriesBatteries

¾ 3D Stereo Camera ¾ 3-Axes Accelerometer ¾ 3-Axes Gyro ¾ Batteries ¾ Wrist 6-Axes Force Sensor ¾ Foot 6-Axes Force Sensor

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 42/50 SpecificationsSpecifications ofof HRPHRP--22

Dimensions Dimensions Height 1,540 [mm]

Width 600 [mm][mm] Depth 340 [mm][mm] Weight inc. batteries 58 [kg] D.O.F. Total 30 D.O.F. Head 2 D.O.F. Arm 2 Arms × 6 D.O.F. Hand 2 Hands × 1 D.O.F. Waist 2 D.O.F. Leg 2 Legs × 6 D.O.F. Walking Speed up to 2.0 [km/h]

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 43/50 BipedBiped WalkingWalking onon aa FlatFlat FloorFloor

[HRP-2, AIST 2003] Hiro Hirukawa The Onassis Found ation Lecture Series 2006 44/50 HRPHRP--22 worksworks withwith aa humanhuman

[AIST, Shimiz, Yaskawa 2003]

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 45/50 RoadmapRoadmap ofof HumanoidHumanoid RoboticsRobotics

„ ItIt willwill taketake manymany yearsyears beforebefore millionsmillions ofof humanoidhumanoid robotsrobots appearsappears inin thethe society.society.

„ TheThe roadmaproadmap ofof humanoidhumanoid roboticsrobotics isis veryvery importantimportant toto makemake thethe developmentdevelopment ofof thethe technologiestechnologies sustainable.sustainable.

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 46/50 Roadmap of Humanoid Robotics

Intelligence Vision Speech Recognition Domestic Applications Autonomous Manipulation Safety Intelligence Human Care Security Mobility Tough body Falling motion

Stairs / Ladder Rough terrain Environment can be used as it is Path planning Narrow space Nuclear Plants Open/Close doors Hazardous Environment

NEDO’s Project Walk on slippy plane Arm/Leg Coodination

Water proof Tools for humans can be used as it is. Long time operation Teleoperation Evaluation of Machines for Humans METI’S HRP Applications HRP-2/OpenHRP

Human shape is important Sony SDR Digital Archives of Dance Culture Honda P2 ASIMO Entertainment

Basic Research at Universities 1995 2000 2005 2010 2015 2020 2025 Hiro Hirukawa The Onassis Found ation Lecture Series 2006 47/50 HRPHRP--3P3P inin aa showershower

[Kawada Industries Inc. 2005]

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 48/50 HRPHRP--22 worksworks atat homehome

[Hara et al. 2006]

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 49/50 SummarySummary

„ AA humanoidhumanoid robotrobot isis anotheranother creaturecreature thatthat hashas oneone voice,voice, butbut two,two, threethree oror fourfour feet.feet.

„ TheThe robotrobot lookslooks likelike aa human,human, movesmoves likelike aa humanhuman andand usesuses toolstools likelike aa human.human.

Hiro Hirukawa The Onassis Found ation Lecture Series 2006 50/50