Humanoid robots – Present State and Future TrendsPeter Kopacek

Vienna University of TechnologyIntelligent Handling and Robotics – IHRT

kopacek@ihrt.tuwien.ac.at

Introduction

Dream to build a robot which looks and works like human-beingAncient Chinese and PersianLeonardo Da Vinci Cinema

– Terminator, Robocops, that have even better capabilities than human-being

IntroductionFrom 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

To realize the stable Biped walking mechanismIntroduction of ZMP (Zero Moment Point)Waseda University ( WABOT 1), Tokyo University, HONDA

History1980 – 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 robotsResearch humanoid robots

– Developed by more than 1000 research institutes as well as universities

– With less budget as well as man powerProfessional humanoid robots

– For own PR purpose to promote the product, like Honda, Toyota

– More budget and man power

Research Humanoid RobotWABIAN – Waseda University, Japan

Research robot „COG“ - MIT

HRP-2 (AIST, Japan)Development (1998 – 2002)1539 mm x 621 mm x 355 mm58 Kg30 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 mm2,2 KgOmni-vision system

– 380000 pixels– 2o cm high

7000 Euroswww.vstone.co.jp

„Professional“ humanoid RobotsASIMO (Honda)SDR-5X (SONY)QRIO(SONY)TOYOTA…

Relatively expensiveFor own PR purpose„Closed“ Software

ASIMO (Advanced Step in Innovative Mobility)

1200 mm x 450 mm x 440 mm53 KgMax. Speed : 3 km/hDC Servo Motors and Harmonic DriveNiMH (38.4 V, 10 Ah)Visual and speech recognition300000 USD

QRIO (SONY)580 mm x 260 mm x 190 mm6.5 KgIntelligent Servo Actuator (own development)38 DOF

– 6 DOF /each leg– 5 DOF / arm– 5 DOF /hand– 2 DOF body– 4 DOF Neck

CPU 64 bit RISC ProcessorOS : Aperios2 CCD Camera7 Microphone

– Detect the direction of the source

Image and Voice recognitionWireless LANReal time adaptive control algorithm for 38 motors

QRIO (SONY)

HONDA & TOYOTA

Why car companies buildthe humanoid robot?Why did TOYOTA buildhumanoid 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, Japanwww.expo2005.or.jp

Network Controlled Humanoid RobotMAHRUKIST (Korea Institute of Science and Technology)Intelligence get from the networkHeight : 150 cmWeight : 67 KgWalking Speed : 0.9 km/hImage, Voice recognitionUsable for guide robot in museum

HUBOKAIST, 2004125 cm high, 56 Kg1.25 km/h41 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 NiMHOperating time : 90 Min.

Face

Neutral Angry

Astonished Sad

Valery, (USA)

Humanoid robot eventsRobot soccer

– FIRA HuroSotRobot DashObstacle runPenalty Kick

– RoboCup Humanoid LeaguePenalty KickGameObstacle run

Battle– Robo-One

Research on Humanoid Robot

Walking mechanismSensor 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 - RoboSapienRoboSapienAbout 100 Euro (R$ 330)Controller

– PDA with CameraProblem

– Getting information about the PDA Information processing.

PINO

http://www.pinoworld.com

Robot Kit

2 small microphones for voice recognition1 loud speaker for communicating with the environment1 amplifier

Audio2 small CMOS-camera-modulesImage Processing

PDA Module which communicates with the main processorImage Processing + Audio Control

Ultrasonic, Temperature, Acceleration, Pressure, ForceSensors

PDA Module More than 32 MB SDRAM400 MHzWindows CE or LinuxSerial Interface

CPU + Main Microcontroller(Coordination of the joints +

sensor processing without audiocontroland image processing)

1 Head, 2 Legs, 2 Arms, 1 TorsoComponents

ARCHIE

ARCHIE

Aluminium, PlasticsMaterial of the body

For each component at least one microcontroller, e.g.: a Basic Stamp Joint Control (Control of the Drives)

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

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 headTorso two DOF :one for the shoulder section, one for the hip sectionHand six DOF: one fixed finger and two fingers with 3 DOF

Joints

System time of the PDA ModuleClock

An Example - Joint

A Joint of “ARCHIE”

First design study - Legs

Mechanics

33 DoF foot mechanismDoF foot mechanism–– TibotalareanTibotalarean jointjoint–– TalonaviculareanTalonavicularean ……–– MetatarsophalangeMetatarsophalange

AnthropomorphismAnthropomorphism

Electronics

ForceForce latticelattice perceptionperceptionCoP trajectory processingCoP trajectory processing

Outlook

True humanish gaitHeal strike detection anddampingPush-off performance

Floor scanningPerception forced reflexesTerrestrial locomotion

Demonstration

Hier 8 – 12 Folien von Archie (Putz)

Roots of Archie

Soccer robots: Roby Speed, Roby NaroRoby 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 (Eco-design)

– 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 perspectivePlatform and System (HW/SW)

– Integrated control system in HW and SWSensor and Actuator

– MEMS, NanotechnologyAutonomous Walking

– Stable walking in rough terrainArtificial Intelligence and recognition

– Face, voice recognitionHuman-Machine InterfaceSafety

Conclusion & future perspective

Usability and commercialization– Operating time

More than 5 hours per battery chargeFuel cell, LIIO and other battery types

– PayloadAbout 30 kg

– PriceAbout 20,000 USD