Humanoid Robots Supporting an Aging Society Keynote Speech @ EU-Japan Conference on Smart Society and Beyond for the Super-Aging Era October 8, 2018 Belgian Royal Academy Espace Roi Baudouin, Bruxelles Atsuo Takanishi（高西淳夫） Dept. of Modern Mech. Eng./Humanoid Robotics Institute, Waseda University Long Period Personal/Official Collaboration with Prof. Dario of SSSA, Italy IEEE: Largest Academic Society in Engineering Robotics Researchers’ Ranking by IEEE: All Five Japanese are Waseda’s Almni Waseda’s Achievements in Humanoid Robotics led by the late Prof. Ichiro Kato Prof. Ichiro Kato (1925-1994) WABOT-1 (1973) WABOT-2 (1984) Humanoid Type Industrial Coworkers: Yaskawa Electric Robots Humanoid Type Industrial Coworkers: Kawada Robotics “NEXSTEP” 重量 28kg Sunrise of Domestic Co-workers? Softbank’s “Pepper” for US$1,678!! Specifications Size:1210×425×485 [mm] Weight:28[kg] DOF:20! Sensors: Many! Developed by “Aldebaran Rob.” Pepper: The Robot Buddhist Monk https://robotstart.info/2017/08/14/robot-sogi.html Why Humanoid Robotics? To Build Human Model to Understand Human from Robotics View Point: “Robotic Human Science” To Make Robotics as One of the Social Technologies based on the Human Model to Support Elderly Dominated Society and to Support Education, Etc. Grand Challenge for Roboticists: A human is considered to be an excellent robot both in motional functionality and in intelligential functionality. Humanoid Family in WABOT-HOUSE Project WABIAN-2 as a Robotic Human Simulator and a Measuring Device for Quantitative Evaluation of Handicapped/Elderly Supporting Machines/Robots Yu Ogura Team 2-DOF Pelvis height : 1.5 [m] weight : 55 [kg] 2 DOF Total DOF : 41 3 DOF leg : 6×2 waist : 2 1 DOF trunk : 2 arm : 7×2 neck : 3 3 DOF WABIAN-2 Designed Based on the Human Anatomy More Human-like Walking by WABIAN-2R with a 50cm-Step 0.50[m/step], 0.96[s/step] Human-Like Outdoor Walking 0.40[m/step], 0.96[s/step] WABIAN-2’s Mimicry Walking of Elderly/Handicapped for Hitachi’s Walking Aid Real World Simulation of Elderly/Handicapped for Testing of Walking Aid ■ Mimicry Walking of a Real Handicapped Subject 9th,FEB,2007 ２００６年度 修論発表 Experiments in Fukuoka Robot Tokku： Knowing of Usability, Possible Danger for New Regulation of Robot Usage Jump! ・・・・・・Towards next ones like Radio Wave Bands for Robots and/or Robot/AI Category in Medical Regulation 世界ロボット宣言 World Robot Declaration 2004年2月25日、ロボットテクノロジーの発展と それが人類への多大なる貢献を果たすことを信じ、 日本・福岡の地より｢世界ロボット宣言｣を世界へ発信する。 Confident of the future development of robot technology and of the numerous contributions that robots will make to Humankind, this World Robot Declaration is issued on February 25, 2004 from Fukuoka, Japan. Jump! WABIAN-2R Goes to Public Space, but Many Problems! More efforts needed for higher usability in the real world Special Economical Zone for Robot Test and Experiment in Fukuoka WL-16 Goes to the US Carrying 170 People in NextFest 2007 Experiment at the Entrance of Japanese Shrine for Elderlies to Prey for Temples/Shrines Takanishi Laboratory, Waseda University Running Companion for Runners More Human-like One with Novel Ankle-Foot Mechanism Z Y X 350 1500 Mass： 62 [kg] Z 22-DOF Y ① : Thigh ② : Foot X ③ : Link 1 ④ : Link 2 ⑤ : Link 3 ⑥ : Link 4 ⑦ : Active 1DOF(Pitch-axis) ⑧ : Passive 1DOF ⑨ Z : Passive 3DOF ⑩ : Active 1DOF(Roll-axis) & Passive 1DOF(Pitch-axis) Y Mass： 4.4 [kg] ⑪ : Leaf spring(For Deflection) 2-DOF ⑫ : Leaf spring(For Twist) 25 Flutist Robot Entertaining Elderlies:WF-4 Mr. Wakamatsu: Technical Advisor Gifu-Waseda WABOT-HOUSE Project WF-4’s Flute Play: The Flight of the Bumble-Bee (Rimsky-Korsakov) Emotional Humanoid EYE-Chan: WE-4RII for Modeling of Human Mind Part DOF Neck 4 Eyes 3 Eyelids 6 Eyebrows 8 Lips 4 Jaw 1 Lung 1 Waist 2 Arms 18 Hand 12 Total 59 Demos of EYE-Chan Additional Demos Whole Upper Body Testing of Behaviors Consciousness The Secret is Equations of Emotion Equation of Motion（運動方程式）m x x k x )( F t Equations of Emotion（情動方程式） M E E KEEA F E: Emotion Vector, FEA: Emotional Appraisal Emotional Coefficient Matrix（情動係数行列） M ： Emotional Inertia Matrix（情動慣性） ： Emotional Viscosity Matrix（情動粘性） K ： Emotional Stiffness Matrix（情動弾性） WABIAN-2 + EYE-Chan = KOBIAN For Making People Laugh, Especially Children in Tsunami/Fukushima Disaster Area Laughter Induction: KOBIAN Commercial Type: WAMOT-FR1 Why so many onomatopoeias in Japanese? “Japan, The Natural Disaster Country” Tsunami, Typhoon, Eruption, Earth Quake, Flood, Landslide, Volcano, etc. New National Program ImPACT: “Though Robotics Challenge” by Prof. Tadokoro Example of Experimental Field High mobility capability Various terrain shapes Various terrain profiles Powerful Powerful manipulation manipulation Precise manipulation High perception ability Supervised autonomy Precise manipulation Spiral stairs Rough terrain Vertical ladder 早稲⽥⼤学 WAREC-1 (Waseda Rescuer – No.1) Two‐limbed stance Four‐limbed stance [150kg] 早稲⽥⼤学 WAREC‐1 Walking & Climbing TWIns : Tokyo Women’s Medical Univ. – Waseda Univ. Institution for Advanced Biomedical Sciences Blood Flow Measurement Robot System: 46 Commercial Suture/Ligature Training Simulator with Scoring Function Web Dummy Skin Dummy Skin cam (Kyotokagaku Co. Ltd.) PC Web cam Venipuncture Trainer (Kyotokagaku Co. Ltd.) Scoring Functions of WKS owards Production Goods with Kyoto Kagaku Co. Ltd.T 1 2 ESuture 3 Z min T T Suture x () t dt 0 N E 1 Lig 2 Max Ligature T T Lig Jump! Lig x () t dt 0 Max 3 3 3 LigMax IdleMax IdleMax Idle Z Z Max Y Y Max X X Max Endotracheal Intubation Test of WKA-3 by Anesthesiologists from TWMU Commercial Prototype: Airway Management Patient Robot Jump! Elderlies Need Dental Care: Dental Patient Simulator DENTAROID®: Show! Hardware configuration Simulator composed of soft skin and flexible limbs 520 85 x y z Average of neonates Neonatal simulator Height mm 500 520 Weight g 2500-3500 2593 Head circumference mm 330 325 （喉頭圧力） （チューブ位置） （食道挿管） （換気圧） （上顎圧力） Larynx Tube Esophageal Ventilation pressure HardwareUpper jaw pressure configurationposition intubation sensor pressure sensor sensor sensor Left lung: 1ch sensor Left: 3ch Left: 5ch Left: 1ch Right lung: 1ch Right: 3ch Right: 5ch Right: 1ch Stomach: 1ch 520 85 x y z Microcontroller Wireless Head Oral Abdomen A/D converter communication Battery IMU camera IMU Sensor controller module Recent Humanoids and Animaloids for Human Environment in Japan TOYOTA: Partner Robots (Aichi EXPO ’05 and after) SONY: AIBO, QRIO (3 years of secret support) HONDA: P2, P3, ASIMO MITI: HRP-1, HRP-2,3,4 TMSUK/SANYO: T-4, T-5, Banryu-Series (SANYO) ERATO Kitano Project: PINO, PINO2, Morph, etc. NEC: PaPeRo Mitsubishi Heavy Industries: Wakamaru ATR/MHI: Robovie, Robovie-2, Robovie-3 HITACHI, Kawada, Etc. *Robots Colored Red are Supported by Takanishi Lab. Classical PID Control: Position, Integration and Differentiation Need to be Very Fast!! https://ja.wikipedia.org/wiki/PID%E5%88%B6%E5%BE%A1#/media/File:PID_en.svg Possible Main Cause of Instability in Smart Society Too Much Feedbacks Many Explosive Responses in Short Time!! Too Slow to Control/Respond to the Feedback Too Slow in Developing Suppressive Technology and/or Enacting Regulation Modeling Error of Control Objects Modeling Error of Society being Composed of Human, Technology and Regulation Functional Incompleteness of Detector/Sensor Insufficient Precision, Slow Response, Faulty Data, etc. Sensor Detects Noise Detection/Recognition Error, False/Malicious Signal Detection Main Cause of Slow Response Too Strict Regulation→Delay in Problem Solving Solving Problems If Feedback becomes ZERO: 2 DOF Control (Adding of Feedforward) Feed Forward Part Robot Feed Back Inverse Model of Robot No Feedback Needed → Stable and Perfect Block Diagram：http://www.ritsumei.ac.jp/~nokata/RoboEx1figures/control.htm Human’s Muscular Skeletal Motion Control is 2DOF One Koji Ito, Human’s Musuclar Skeletal Motion Control, Bio-Mechanism Journal，Vol. 24, No.1: pp.12-13 (2000) Modeling is not part of ticsthemaMa J D TDJM M ・・・ (1) T(t) TJD M M ・・・ (2) Modeling of Motor in Mechanics JM: Motor Inertia Angle: Rotational DMiscosity on Rotor: V，TrqueoT: Out Shaft ransform of (2)TLaplace 2 T()()() s JM s M D s・・・ s (3) Computers Need A/D and D/A Converters for Real World Computation Video Field Multiplexing Device A/D FSR Olfactory Sensor PC2 CCD (R) Thermistor Ethernet CCD (L) Gyro Microphones Voice Facial Color Inverter Circuit x 2 Heater Driver Circuit x 1 A/D Eyebrows Servo Module x 8 Lips Servo Module x 4 Jaw Servo Module x 1 D/A Eyelids Servo Module x 6 Eyeballs Servo Module x 3 Neck Servo Module x 4 Lung Servo Module x 1 WE-4 Waist Servo Module x 2 PC1 Limitation by Nyquist Frequency Sampling Frequency Maximum Frequency Slower, Stop or Even Reversed Rotation?! https://toyota.jp/86/style/3d/?padid=ag341_from_86gr_3d http://kaba118.jugem.jp/?eid=219 Linear and Non-linear Systems： Single and Double Pendulums Linear System：Simple Non-Linear System： Vibration System Singlle Pendulum https://ja.wikipedia.org/wiki/%E8%87%AA%E7%94%B1 https://ja.wikipedia.org/wiki/%E6%8C%AF%E3%82%8A %E6%8C%AF%E5%8B%95 %E5%AD%90 Chaos easily Occurs Even in Double Pendulum System https://ja.wikipedia.org/wiki/%E4%BA%8C%E9%87%8D%E6%8C%AF%E3%82%8A%E5%AD%90 Limitation of Modeling： Structure cannot be autonomously computed by Phenomena ・・・ is AI really be Perfect? ○ ？ × http://aidiary.hatenablog.com/entry/20111028/1319815300 https://upload.wikimedia.org/wikipedia/commons/f/f1/Pendule_double.gif No Escape from Chaos in Digital Control of Robots!! G. Haller and G. Stepan, Micro-Chaos in Digital Control,J. Nonlinear Sci., Vol. 6: pp. 415–448 (1996) Pure Electric Parts can be affected by Mechanical Action Non-Inv. Amp. with X100 Gain × Non-Inv. Amp. with X100 Gain 4.7μ + 4.7μ 10K + 0.47μ - Output - E 10K 100K 10K 1K 100K 1K Touch and Stroke ＝ Audio Amp.