Humanoid robots – Present State and Future Trends Peter Kopacek Vienna University of Technology Intelligent Handling and Robotics – IHRT [email protected]

Introduction † Dream to build a robot which looks and works like humanbeing † Ancient Chinese and Persian † Leonardo Da Vinci † Cinema – Terminator, Robocops, that have even better capabilities than human-being

Introduction † From engineering view point, human- being – Locomotion, – Navigation – Handling – Recognition – Sensing (5 senses) – Intelligent and autonomous system – Etc. † Example, walking – Human-being, with muscles with our inner sensors – Robot, motors and gears and also sensors

Research on Humanoid Robot † 1970 – 1980 : – Research on biped walking ƒ To realize the stable Biped walking mechanism ƒ Introduction of ZMP (Zero Moment Point) ƒ Waseda University ( WABOT 1), Tokyo University, HONDA

History 1980 – 2000 – Greenman (USA) – WABOT 2 (Waseda University, Japan) – COG (MIT) – Wendy (Waseda University, Japan) – P2 (Honda), 1986 2000 M2 (MIT), SDR-3X, QRIO (SONY), P3, ASIMO (Honda) 2002 HRP-2 (AIST, Japan) 2004 KHR-2, HUBO (KAIST, Korea), Toyota (Japan)

Humanoid robots † Research humanoid robots – Developed by more than 1000 research institutes as well as universities – With less budget as well as man power † Professional humanoid robots – For own PR purpose to promote the product, like Honda, Toyota – More budget and man power

Research Humanoid Robot WABIAN – Waseda University, Japan

Research robot „COG“ - MIT

HRP-2 (AIST, Japan) † † † †

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Development (1998 – 2002) 1539 mm x 621 mm x 355 mm 58 Kg 30 DOF – 6 DOF / each leg – 6 DOF / each arm – 2 DOF / each hand – 2 DOF Waist – 2 DOF Head Sensor – Acceleration sensor – 6 axis force sensor for ankle and wrist – Three cameras (head) – DC servo motor with harmonic drive – NIMH Battery (48 V, 18AH) Capability to stand up by itself

HOAP

Johnny Walker – Univ. of Western Australia

Vision, Japan † 390 mm † 2,2 Kg † Omni-vision system – 380000 pixels – 2o cm high † 7000 Euros † www.vstone.co.jp

„Professional“ humanoid Robots † † † † †

ASIMO (Honda) SDR-5X (SONY) QRIO(SONY) TOYOTA …

† Relatively expensive † For own PR purpose † „Closed“ Software

ASIMO (Advanced Step in Innovative Mobility) † † † †

1200 mm x 450 mm x 440 mm 53 Kg Max. Speed : 3 km/h DC Servo Motors and Harmonic Drive † NiMH (38.4 V, 10 Ah) † Visual and speech recognition † 300000 USD

QRIO (SONY) † 580 mm x 260 mm x 190 mm † 6.5 Kg † Intelligent Servo Actuator (own development) † 38 DOF – 6 DOF /each leg – 5 DOF / arm – 5 DOF /hand – 2 DOF body – 4 DOF Neck

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CPU 64 bit RISC Processor OS : Aperios 2 CCD Camera 7 Microphone – Detect the direction of the source † Image and Voice recognition † Wireless LAN † Real time adaptive control algorithm for 38 motors

QRIO (SONY)

HONDA & TOYOTA † Why car companies build the humanoid robot? † Why did TOYOTA build humanoid robot?

TOYOTA † † † †

There was a car fair in Japan, to present new cars. HONDA presented ASIMO. All media people went to the HONDA. Toyota started developing humanoid robot secretly for three years.

Robot Band, Toyota

EXPO 2005 AICHI, Japan www.expo2005.or.jp

Network Controlled Humanoid Robot † MAHRU † KIST (Korea Institute of Science and Technology) † Intelligence get from the network † Height : 150 cm † Weight : 67 Kg † Walking Speed : 0.9 km/h † Image, Voice recognition † Usable for guide robot in museum

HUBO † † † †

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KAIST, 2004 125 cm high, 56 Kg 1.25 km/h 41 DOF – 6 DOF /leg – 6 DOF/arm – 5 DOF/hand – 2 DOF Neck – 2 DOF /eye – 1 DOF Waist Sensors – 3 axis force/torque sensors – CCD Camera – Pressure sensor (Finger tip) Main Computer – Windows XP with Realtime Linux Distributed Control system (CAN) Power Supply : 300W NiMH Operating time : 90 Min.

Face Neutral

Astonished

Angry

Sad

Valery, (USA)

Humanoid robot events † Robot soccer – FIRA HuroSot ƒ Robot Dash ƒ Obstacle run ƒ Penalty Kick

– RoboCup Humanoid League ƒ Penalty Kick ƒ Game ƒ Obstacle run

† Battle – Robo-One

Research on Humanoid Robot † Walking mechanism † Sensor based Artificial Intelligence – Vision system – Speech recognition, synthesis – Man-Machine Interaction

Humanoid Robot † Technical Problems – Stability – Real time Control – Image processing – Intelligent and Autonomous behavior – Walking Mechanism – Sensor system

One example - RoboSapien † RoboSapien † About 100 Euro (R$ 330) † Controller – PDA with Camera † Problem – Getting information about the PDA Information processing.

PINO

http://www.pinoworld.com

Robot Kit

ARCHIE Components

1 Head, 2 Legs, 2 Arms, 1 Torso

CPU + Main Microcontroller (Coordination of the joints + sensor processing without audiocontrol and image processing)

PDA Module More than 32 MB SDRAM 400 MHz Windows CE or Linux Serial Interface

Sensors

Ultrasonic, Temperature, Acceleration, Pressure, Force

Image Processing + Audio Control

PDA Module which communicates with the main processor

Image Processing

2 small CMOS-camera-modules

Audio

2 small microphones for voice recognition 1 loud speaker for communicating with the environment 1 amplifier

ARCHIE Clock

System time of the PDA Module

Joints

Leg six DOF: two for the ankle (left and right of the feet, up and down of the feet), one to lift off the leg, one for the knee (to bend the leg), two for the hip (one for rotating and the other one for putting the leg left or right) Arm four DOF: two for the shoulder section (one for lifting off the arm and the other one for rotating), two for the elbow (for bending the arm and for rotating the forearm) Head two DOF: one for rotating the head, one for up and down movement of the head Torso two DOF :one for the shoulder section, one for the hip section Hand six DOF: one fixed finger and two fingers with 3 DOF

Drives

For each DOF a mini motor with a gear unit (up to 70 kg moment of force) or a servo

Joint Control (Control of the Drives)

For each component at least one microcontroller, e.g.: a Basic Stamp

Material of the body

Aluminium, Plastics

An Example - Joint

A Joint of “ARCHIE”

First design study - Legs

Mechanics †

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3 DoF foot mechanism – Tibotalarean joint – Talonavicularean … – Metatarsophalange Anthropomorphism

Electronics † †

Force lattice perception CoP trajectory processing

Outlook † True humanish gait † Heal strike detection and damping † Push-off performance † Floor scanning † Perception forced reflexes † Terrestrial locomotion

Demonstration

† Hier 8 – 12 Folien von Archie (Putz)

Roots of Archie † Soccer robots: Roby Speed, Roby Naro † Roby Space

Roby-Naro & Roby-Speed

Roby-Sandwich & Roby-Insect

Roby-Junior

Roby Space I and II

Flight path

Start facilities

Reusability

European Waste from Electric and Electronic Equipment (WEEE) concept † Two major topics: – to support the development of products with minimised environmental impact during the whole the life cycle (Ecodesign) – to demonstrate an eco-efficient way to close the material and component loop (End-of-Life Management)

Relation between complexity and Economy

Conclusion & future perspective † The number of Humanoid robots is growing rapidly. † Only few real industrial applications. † At the moment only for demonstration purposes or for service application, museum guide, film, etc.

Conclusion & future perspective † Platform and System (HW/SW) – Integrated control system in HW and SW † Sensor and Actuator – MEMS, Nanotechnology † Autonomous Walking – Stable walking in rough terrain † Artificial Intelligence and recognition – Face, voice recognition † Human-Machine Interface † Safety

Conclusion & future perspective † Usability and commercialization – Operating time ƒ More than 5 hours per battery charge ƒ Fuel cell, LIIO and other battery types

– Payload ƒ About 30 kg

– Price ƒ About 20,000 USD