8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 1/19

  CHAPTER 1

  INTRODUCTIONHumanoid robots have always inspired the imagination of robotics researchers as well as the general public.Up until 2000, the design and construction of a humanoid robot was very expensive and limited to a few well

funded research labs and companies (e.g., Honda Asimov, u!itsu H"A#$. %tarting in about 200& advances inmaterial sciences, motors, batteries, sensors, and the continuing increase in processing power available toembedded systems developers has led to a new generation of aff ordable small humanoid robots (someexamples include' #ino , anus ) , *ao+#ie+#ie , oboerectus , and Hansa am $. *hese robots cost in therange from -&000.00 to -20,000 U%. any hobbyists have build their own humanoid robots, especially inAsia. *he creation of these humanoid robots also coincided with an increased interest in several high pro/leresearch oriented international robotics competitions (e.g., oboup and )A $. *he researchers choserobotic soccer as a challenge problem for the academic /elds of arti/cial intelligence and robotics. oboticsoccer re1uires a large amount of intelligence at various levels of abstraction (e.g., off ensive vs defensive

strategy, role assignment, path planning, localiation, computer vision, motion control$. obotic soccer is adynamic real+time.

ig.'&.&

3nvironment with multiple agents and active opponents that try to prevent the robot from achieving its goal.*hese competitions allowed researchers to compare their results to others in a real+world environment. )talso meant that robustness, 4exibility, and adaptability became more important since these robots had to

 perform for extended periods of time in variable conditions. *his is in contrast to researchers that could previously /ne tune their system to the speci/c conditions in their laboratory. *he inaugural humanoidrobotics competition at obo up and at )A were held in 2002. urthermore, in 2002 hobbyists formed

several popular robotics events which had less of a research emphasis. *he most popular example are thetelevised obot 5ars (6attle 6ots$ events where remote controlled wheeled robots with weapons try todestroy each other. *he huge interest in humanoid robotics in Asia has led to the creation of humanoid robot/ghting competitions in 7apan (7apan "ne$ and 8orea (8+"ne$. %everal of these humanoid robots are nowcom+ mercially available at a competitive price. 3ven though the robustness and cost ma9e these remotecontrolled /ghting robots attractive for humanoid robotics researchers, the robots are not immediatelysuitable as autonomous robot research platforms. *he main disadvantages are'

(a$ *hese /ghting robots do not have sufficient processing power for on+board vision, and

(b$ *hey have few if any sensors (e.g., accelerometers, gyroscopes, force sensors$ to support dynamic balancing and feedbac9 control of the wal9ing gait.

 *his paper describes our wor9 in converting the 8ondo 8H+& humanoid robot 9it from a remotecontrolled /ghting robot into a fully autonomous soccer playing robot Abarenbou. *o 9eep the cost down,Abarenbou uses a commonly available personal digital assistant (#A$ with a built in camera as processing

&

8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 2/19

 platform for vision and higher level reasoning. 5e used the %ony lie :;0< #A as the brain of our robot. *he following section describes the hardware of the 8ondo 8H+& robot and our modi/cations to thehardware. )t describes the methodology we used for developing new motions (e.g., wal9, turn, and9ic9$.describes our pragmatic Al method for localiing the robot in the playing /eld and mapping theenvironment around the robot. *he paper concludes with, which also gives directions for future wor9.

*he applications of robots with human+li9e dimensions and motion capabilities, humanoid robots, are plentiful. Humanoid robots constitute both one of the largest potentials and one of the largest challenges inthe /elds of autonomous agents and intelligent robotic control. )n a world where man is the standard for almost all interactions, humanoid robots have a very large potential acting in environments created for human beings. )n traditional robot control programming, an internal model of the system is derived and theinverse 9inematics can thus be calculated. *he tra!ectory for movement between given points in the wor9ingarea of the robot is then calculated from the inverse 9inematics. onventional industrial robots are designedin such a way that a model can be easily derived, but for the development of so called bio+inspired robots,this is not a primary design principle. *hus, a model of the system is very hard to derive or to complex sothat a model+based calculation of actuator commands re1uires to much time for reac+ tive tas9s. or a robotthat is conceived to operate in an actual human living environment, it is impossible for the programmer toconsider all eventualities in advance. *he robot is therefore re1uired to have an adaptation mechanism that is

able to cope with unexpected situations.

ig.&.2

 CHAPTER 2

HISTORY OF HUMANOID ROBOTS*he concept of human li9e automatons is nothing new. Already in the second century 6.., Hero of Alexander constructed stateues thatcould be animated by water, air and steam pressure. )n

&=>? @eonardo da <inci designed and possibly built a mechanical device that loo9ed li9e an armored 9night.)t was designed to sit up, wave its arms, and move its head via a 4exible nec9 while opening and closing its

 !aw. 6y the eighteenth century, elaborate mechanical dolls were able to write short phrases, play musicalinstruments, and perform other simple, life+li9e acts. )n &>2& the word robot was coined by 8arel ape9 inits theatre play' .U.. (ossums Universal obots$. *he mechanical servant in the play had a humanoidappearance. *he /rst humanoid robot to appear in the movies was aria in the /lm etropolis (rit @ang,&>2B$. 5estinghouse 3lectric orporation exhibited at the &>C> and &>=0 5orlds airs the tall motor man3le9tro. Humanoid in appearance, it could drive on wheels in the feet, play recorded speech, smo9e

2

8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 3/19

cigarettes, blow up balloons, and move its head and arms. 3le9tro was controlled by =D electrical relays andcould respond to voice commands. Humanoid robots were not only part of the western culture. )n &>?2,"amu *eu9a created Astroboy, the /rst and one of the worlds most popular 7apanese sci+/ robots. )n &>;Cthe construction of a human+li9e robot was started at the 5aseda University in *o9yo. 5abot+& was the /rstfull+scale anthropomorphic robot able to wal9 on two legs. )t could also communicate with a person in7apanese and was able to grip and trans+ port ob!ects with touch+sensitive hands. *he group of )chiro 8atoalso developed 5abot+2, which could read music and play an electronic organ. )t was demonstrated at the3xpo &>D? in *su9uba, 7apan. 5abot+2 was e1uipped with a hierarchical system of D0 microprocessors. )tswire+driven arms and legs had ?0 degrees of freedom. any researchers have also been inspired by themovie %tar 5ars (Eeorge @ucas, &>;;$ which featured the humanoid robot C#" and by the *< series %tar *re9. *he :ext Eeneration (Eene oddenberry, &>D;$ which featured the humanoid ata. )n &>DB Honda

 began a robot research program with the goal that a robot should coexist and cooperate with human beings, by doing what a person cannot do and by cultivating a new dimension in mobility to ultimately bene/tsociety.F After ten years of research, Honda introduced in &>>B #2 to the public, the /rst self contained full

 body humanoid. )t was able to wal9 not only on 4at 4oors, but could also climb stairs. )t was followed in&>>; by #C and in 2002 by Asimo.

The Clepsydra1400 BCE

6abylonians develop the clepsydra, a cloc9 that measures time using the flow of water, which is consideredone of the first robotic devices in history. or centuries, inventors refine the design, and sometime around2;0 63, the Eree9 inventor sestibus becomes famous for a water cloc9 that utilies animated humanfigures.

Ars!"!le

#22 3arly %tages

*he notion of putting machines to wor9 can be credited to great thin9ers li9e Aristotle$ *he Eree9 

 philosopher Aristotle imagines the utility of robots, writing' *he Eree9 philosopher Aristotle imagines theutility of robots, writing' G)f every tool, when ordered, or even of its own accord, could do the wor9 that

 befits it then there would be no need either of apprentices for the master wor9ers or of slaves for thelords.F

5estinghouse 3lectric orp.

&. reates two of the first robots that use the electric motor for entire body motion

ig.2.&

Da %&'(s )&*h!

  14+,

@eonardo a <inci designs a cloc9wor9 9night that is designed to sit up, wave its arms, and move its headand !aw. )ts not certain whether the robot was ever built, but the design may constitute the first humanoid

robot.

C

8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 4/19

ig.2.2

 

The D*es!&* D-'.   1/#/

rench inventor 7ac1ues <aucanson builds a cloc9wor9 duc9 capable of flapping its wings, 1uac9ing, eatingand digesting food.

  The Me'ha&'al T-r. 

1/+

Hungarian author and inventor 5olfgang von 8empelen builds *he *ur9 , a maplewood box. 5ith amanne1uin dressed in cloa9 and turban protruding from the bac9. *he device gains great   fame as anautomaton capable of playing chess against s9illed opponents until it is discovered that a human operator 

hides inside the box.

The a'-ard 3""

  1501

rench sil9 weaver and inventor 7oseph 7ac1uard invents an automated loom that is controlled by punch+cards. 5ithin a decade it is being mass+produced and thousands are in use across 3urope.

Tesla6 Ahead O7 Hs Te

  15+5

 :i9ola *esla demonstrates a new invention he calls GteleautomatonF to spectators at adison %1uare Eardenin :ew Ior9 a radio controlled boat. *he audience believes its a tric9, and remote control technology doesnot become commonplace until decades later.

R"ss-s U&8ersal R"9"!

  1+21

ech playwright 8arl ape9 coins the term GrobotF in a play called .U.. (ossums Universal obot$.*he word comes from the ech robota, which means drudging, forced wor9.

D

*he play ends with robots ta9ing over the 3arth and destroying their ma9ers.

U&a!e :e!s T" ;"r. 

=

8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 5/19

  1+,4

)ndustrial robotics pioneer Eeorge evol creates Unimate, the worlds first programmable robot. )n &>B& itis put to wor9 on a Eeneral otors automotive assembly line.

Br!h O7 The R"9"!'s I&d-s!ry

  1+,

Eeorge evol and 7oseph 3ngelberger form the the worlds first robotics company, Unimation. )n the &>B0s,it is purchased by the ondec orporation, which later is bought, in part, by industrial manufacturinggiant 3aton.

Da&!e Des'e&ds

  1++#

An eight+legged robot named ante attempts to explore Antarcticas t. 3rebus volcano. *he landmar9 effort is remotely controlled from the U.%., and ushers in a new era of robotic exploration of haardousenvironments.

Pa!h7&der

  1++/

*he tiny %o!ourner over  begins its scientific mission on ars. oving at a maximum speed of 0.02 miles per hour, the robot explores the immediate area around its landing point, and ta9es ??0 photographs over thenext three months.

Ma&(s Bes! Fre&d

  1+++

Eadget+lovers develop a serious case of puppy love. for  %ony Js robot dog A)6". *he -2,000 mechanicalmutt can navigate around a room and respond to a set of limited commands.

ASIMO <al.s

  2000

Honda otor ompanys humanoid robot A%)" steps onto the stage. %tanding &.C meters tall, it can wal9 and run with a near+human gait.

The R"9"&a-!

  2012

*he final mission of the %pace %huttle iscovery delivers the first humanoid robot in space to the)nternational %pace %tation. ubbed 2, the obonaut has a near+human range of motion and can performtas9s dubbed too dangerous for human astronauts. :A%A says the bots Gare essential to :A%As future aswe go beyond low earth orbit.F

A Dr8erless Car :e!s 3'e&sed

  2012

*he :evada epartment of otor <ehicles issues the worlds first license for a robotic, self+driven car. )tsissued to a *oyota #rius modified with technology developed by Eoogle. *o date, Eoogles driverless carshave logged more than C00,000 miles in traffic, and havent been the cause of a single accident.

?

8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 6/19

B

8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 7/19

CHAPTER #

STATE=OF=THE=ARTAlthough, from the above, it may seem that the most important issues for construction and control of humanoid robots have been solvedK this is not at all the case. *he capabilities of current humanoid robots are

rather limited, when compared to humans.

#$1 Bpedal 3"'""!"&

*he distinctive feature of full+body humanoids is bipedal loco+ motion. 5al9ing and running on two legsmay seem simple, but humanoid robots still have serious difficulties with it. ) see two opposing approachesto bipedal wal9ing. *he /rst+one is based on the ero+moment+point theory (L#$ . *he L# is de/ned asthe point on the ground about which the sum of the moments of all the active forces e1uals ero. )f the L#is within the convex hull (support polygon$ of all contact points between the feet and the ground, a bipedalrobot is dynamically stable. *he use of the L# to !udge stability was a ma!or advance over the center+of+mass pro!ection criterion, which describes static stability. #rominent robots, which rely on L#+based

control, include Honda Asimo and %ony Mrio. Asimo was shown in 200B to be capable of B9mNh running.However, its gait with bent 9nees does not loo9 human+li9e. )t does not recycle energy stored in elasticelements, the way humans do it and, hence, it is not energy+ efficient. urthermore, Asimo re1uires 4at,stable ground for wal9ing and running and can only climb certain stairs. A completely diff erent approach to

wal9ing is to utilie the robot dynamics. )n &>>0 cEeer showed that planar wal9ing down a slope is possible without actuators and control. 6ased on his ideas of passive dynamic wal9ing, actuated machineshave been built recently. *hese machines are able to wal9 on level ground. 6ecause their actuators onlysupport the inherent machine dynamics, they are very energy+efficient. *hey are easy to control, e.g. by

relying on foot+contact sensors. However, because they use round feet, these machines cannot stand still. %ofar, these machines can also not start or stop wal9ing and are not able to change speed or direction

 5hat is missing in current humanoid robots is the ability to wal9 on

ig.'C.&

difficult terrain and the re!ection of ma!or disturbances, li9e pushes. %uch capabilities were demonstrated by

the 1uadruped 6igog. *his robot, however, is not suited for indoor use due to its combustion engine andhydraulic actuators. irst steps towards bipedal push recovery have been done in simulation using #rattsconcept of capture point. )t is difficult to transfer these simulation results to physical robots, partly due to

;

8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 8/19

the lac9 of suitable actuators. Although hydraulic actuators (e.g. %ar9os biped used at A* and U$ and pneumatic actuators (e.g. @ucy designed at 6russels $ have been used for bipeds to implement compliant !oints, their wal9ing performance is still not convincing.

#$2 Per'ep!"&

Humanoid robots must perceive their own state and the state of their environment in order to act

successfully. or proprioception, the robots measure the state of their !oints using encoders, force sensors, or  potentiometers.

  )mportant for balance is the estimation of the robot attitude. *his is done using accelerometers andgyroscopes. any humanoid robots also measure ground re+ action forces or forces at the hands and /ngers.%ome humanoid robots are covered with force+sensitive s9in. "ne example for such a robot is 62 ,developed at "sa9a University. Although some humanoid robots use super+human senses, such as laser range/nders or ultrasonic distance sensors, the most important modalities for humanoid robots are visionand audition. any robots are e1uipped with two movable cam+ eras. *hese cameras are used as activevision system, allowing the robots to focus their attention towards relevant ob!ects in their environment.ovable cameras ma9e depth estimation from disparity more difficult, however. or this reason, /xed

calibrated cameras are used for stereo. ost humanoid robots are e1uipped with onboard computers for image interpretation. )nterpreting real+world image se1uences is not a solved problem, though. Hence, manyhumanoid vision systems wor9 well only in a simpli/ed environment. re1uently, 9ey ob!ects are color+coded to ma9e their perception easier. %imilar difficulties arise when interpreting the audio signals captured

 by onboard microphones. "ne ma!or problem is the separation of the sound source of interest (e.g. a humancommunication partner$ from other sound sources and noise. *urning the microphones towards the source of interest and beam+ forming in microphone arrays are means of active hearing. 5hile they improve thesignal+to+noise ratio, the interpretation of the audio signal is still difficult. 3ven the most advanced speechrecognition systems have substantial word error rates. ue to the described difficulties in perception, some

humanoid pro!ects resort to teleoperation, where the signals captured by the robot are interpreted by ahuman. 3xamples for teleoperated humanoids include the Eeminoid developed by )shiguro, the obonaut

developed by :A%A, and the #& developed at %tanford.

ig.'C.2

#$# H-a&=R"9"! I&!era'!"&

any humanoid research pro!ects focus on human+robot inter+ action. *he general idea here is that theefficient techni1ues which evolved in our culture for human+human communication allow also for intuitive

human+machine communication. *his includes multiple modalities li9e speech, eye gae, facial expressions,gestures with arms and hands, body language, etc. *hese modalities are easy to interpret by the humansensory system. 6ecause we practice them since early childhood, face recognition, gesture interpretation,etc. seem to be hard wired in our brains. A smile from a robot does not need much explanation.

)n order to address these modalities, communication robots are e1uipped with expressive animated heads.3xamples include 8ismet and @eonardo, developed at )* , and 53+=)) developed at 5aseda . ovableeyes, head, and chests communicate where the robot focuses its attention. 5hen the robot loo9s at theinteraction partner, the partner feels addressed. %ome robots animate their mouth while generating speech.*his helps the listener to detect voice activity. %ome robots have an emotional display. 6y moving

eyebrows, eyelids, the mouth, and possibly other parts of the face, a number of basic emotions can beexpressed. *he expression of the emotional state can be sup+ ported by adapting pitch, loudness, and speed

D

8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 9/19

of the synthesied speech. obots with anthropomorphic arms and hands can be used to generate gestures.At least four !oints per arm are needed . "ne example for a upper+body robot used to generate a variety of gestures is 7oy, developed at 8A)%*, 8orea . *he generated gestures of humanoids includesymbolicgestures, such as greeting and waving, batonic gestures, whichemphasie accompanying speech,and pointing gestures, which indicatea direction or reference an ob!ect. *he sie of ob!ects can also beindicated with arms and hands. *he robot head can be used for pointing, nodding and sha9ing as well.obots with articulated /ngers li9e Hubo, also developed at 8A)%* , may even be used to generate signlanguage. ull+body humanoids can use their entire body for communication using body language. 5abian+)), for example, was programmed to generate emotional wal9ing styles . Another example is H#+2, whichreproduced a 7apanese dance captured from a human dancer . *he most extreme form of communicationrobots are an+ droids and gynoids, which aim for a photorealistic human+li9e appearance. *heir faces arecovered with silicone s9in, they have human+li9e hair, and they are dressed as humans. %ome of these robotsare modeled after living persons, such as epliee M2, developed in "sa9a , and the copy of Lou en *i,developed at O%, hina. *hese robots, however, heavily suff er from the uncanny valley eff ect . *here isnot a monotonous increase in attractiveness as robots become more human+li9e, but there is a sudden drop inattractiveness close to perfect human+li9eness. 5hile the synthesis+part of multimodal interaction wor9sreasonably well, the insufficient perception performance of the computer vision and audition systems and

the lac9 of true meaning in the dialogue systems so far prevent humanoid robots from engaging in trulyintuitive multimodal interactions with humans.

#$4 De>!er"-s Ma&p-la!"&

Another 9ey human capability is dexterous manipulation. *he human hand has about thirty degrees of freedom. )t is not easy to reproduce its strength, 4exibility, and sensitivity. Among the most advancedrobotic hands are the %hadow hand, which is driven by =0 air muscles and the four+/nger hand developed

 by @ and H)*. exterous manipulation not only re1uires capable hands, but also hand+arm coordinationand the coordination of two hands and the vision system. ue to the high number of !oints involved,controlling grasping and manipulation is challenging. *hree examples for manipulation+oriented humanoidrobots are the obonaut , which is using the space tools designed for humans, 7ustin, for which @ developed an impedance+based control scheme , and *wendy "ne, which is e1uipped with passiveimpedances in the actuators. 5hile the performance of these robots is impressive, they cannot grasp andmanipulate un9nown ob!ects. *his is mainly due to de/cits in the perception of grasping aff ordances. Alsothe interpretation of the touch and force sensors integrated in the hands must be improved in order to allowfor blind ad!ustments of the grip in the way humans do it.

>

8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 10/19

F*$?#$#

#$, 3ear&&* a&d Adap!8e Beha8"r

*o be useful in everyday environments, humanoid robots must be able to adapt existing capabilities andneed to cope with changes. *hey are also re1uired to 1uic9ly learn new s9ills. ortunately, humanoid robotshave the uni1ue possibility to learn from capable teachers, the humans in their environment. *his is calledimitation learning or programming by demonstration. )mitation learning has been applied, for example, tocomplex motions li9e swinging a tennis rac9et or generating   gestures and to manipulation tas9s. "nedifficulty of imitation learning is the perception of the teacher. re1uently, external motion capture systems

relying on special mar9ers or attached motion sensors are used to sense the motion of the teacher. Another difficulty is the mapping between the human body and the robots body. %ome human motions may not be

 possible for the robot, e.g. due to lac9 of !oints, limited !oints angles or dynamic constraints. "n the other hand, the robot might have degrees of freedom that are not constrained by the captured motion. *hese must

 be controlled by optimiing secondary criteria such as energy use. A fre1uently used possibility to simplify

imitation is also to rely on 9inesthetic teaching, where the teacher directly moves the limbs of the robot.5hile the imitation of human motion patterns greatly assists in the generation of humanoid motion, it doesnot suffice. 6ecause of the diff erences between the teacher and the robot, for true imitation the robot mustinfer the intentions of the human teacher and come up with its own strategy to accomplish the same goals.Another possibility to optimie the behavior of humanoid robots is reinforcement learning .Here, the robotrevives rewards or punishments while interacting with the environment. *he problem now is to /nd the

 policy of actions which maximies the discounted future reward. any techni1ues for reinforcementlearning exist. Among the most promising techni1ues are stochastic gradient techni1ues, which have beenused to optimie bipedal wal9ing patterns and natural actor+critic learning , which has been shown to learnhitting a ball with a bat. "ne general difficulty with reinforcement learning is the generation of the rewards.

)t cannot be assumed that the environment generates a reward structure sufficient for the learning of 

complex tas9s. ather, intermediate rewards must be generated by the robot itself when successfullyaccomplishing subtas9s or when meeting intrinsic needs. "n the other hand, the robot must generate

&0

8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 11/19

negative rewards when violating intrinsic constraints, for example when falling. 3specially in suchsituations it is crucial to learn from few examples. )n addition to the learning of behavior, learning andadaptation are also important for perception. omputer vision and speech recognition, for example, mustadapt to changing lighting conditions and varying auditory bac9grounds. *he robots are re1uired tofamiliarie themselves with new ob!ects in their environment and also need to learn new words and names.or navigation, some humanoid robots construct maps of their surroundings.

CHAPTER 4

APP3ICATION DOMAINS*he capabilities of humanoid robots are rather limited, there are few real+world applications for them so far.*he most visible use of humanoid robots is technology demonstration.

4$1 Te'h&"l"*y De"&s!ra!"&amous humanoid robots li9e the Honda Asimo or the *oyota #artner obots do not accomplish any usefulwor9. *hey are, however, presented to the media and demonstrate their capabilities li9e wal9ing, running,climbing stairs, playing musical instruments or conducting orchestras on stage and during exhibitions. %ucha showcase of corporate technology at+ tracts public attention and strengthens the brand of the car manufacturers. Hence, the huge development costs of these advanced humanoids might be covered from themar9eting bud+ gets.

ig.'=.&

4$2 Spa'e Mss"&s

Another area where money is not much of an issue is missions to space. %ince human life support in space iscostly and space missions are dangerous, there is a need to complement or replace humans in space byhuman li9e robots. *he two prominent pro!ects in this area are the :A%A obonaut and @s 7ustin .6oth use a humanoid torso mounted on a wheeled base. *he humanoid appearance of the robots is !usti/ed,

 be+ cause they can 9eep using space+certi/ed tools which have been designed for humans and because thehumanoid body ma9es teleoperation by humans easier.

&&

8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 12/19

ig.'=.2

4$# Ma&-7a'!-r&*

5hile in industrial mass production robot arms are used which are not anthropomorphic at all, the 7apanesecompany Ias9awa sees a mar9et for human+li9e dual+arm robots in manufacturing. )t recently announcedthe otoman+%A&0 robot which consists of two ;"

arms on a torso that has an additional rotational !oint. 3ach arm has a

 payload of &09g. Ias9awa aims to directly replace humans on production lines. *he robot is able to hold a part with one arm while using a tool with the other arm. )t can also pass a part from one arm to the other 

without setting it down. %ales target for the %A&0 is C000 unitsNyear.

ig.'=.C

4$4 H"-seh"ld

An obvious domain for the use of humanoid robots is the house+ hold. %ome humanoid pro!ects explicitlyaddress this domain. *hey include the Armar series of robots developed in 8arlsruhe, *wenty "nedeveloped at 5aseda University, and the personal robot #& developed in %tanford. 5hile these robots

&2

8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 13/19

demonstrate impressive isolated s9ills needed in a household environment, they are far from autonomousoperation in an unmodi/ed household.

ig.'=.=

4$, R"9"! C"pe!!"&s

A currently more viable application for humanoid robots is robot competitions. oboup and )A, for example, feature competitions for humanoid soccer robots. *hese robots are fully autonomous and playtogether as a team. 5hen they fall, they get up by themselves and continue playing. *he participatingresearch groups either construct their own robots or they use commercial humanoid robot 9its available, e.g.,

from obotis and 8ondo. oboup also selected the Aldebaran :ao humanoid robot as successor of the%ony Aibo in the %tandard #latform @eague. Another popular competition for humanoid robots is obo "ne,where teleoperated robots engage in martial arts. *here are also competitions for robots in human+ populatedenvironments li9e the AAA) mobile robot competition, where the robots are supposed to attend aconference, and oboupPhome where the robots are supposed to do useful wor9 in a home environment.6ecause they provide a standardied test bed.

CHAPTER ,

RECO:NITION TECHNO3O:Y AND PROSPECTSA%)" is a humanoid robot created in 2000 by Honda.

A%)" stands for' Advanced %tep in )nnovative obility. &&th  in line of successive bipedal humanoidmodels by Honda. )t is the =th man li9e humanoid robot.

,$1Spe'7'a!"&s

5eight' ?2 9ilograms

unning %peed' B 9mNh

5al9ing speed' 2.; 9mNh

5al9ing speed while carrying ob!ects' &.B 9mNhHeight' &C0 cm

5idth' =? cm

&C

8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 14/19

epth' == cm

ontinuous operating time' =0 min Q & hr

egrees of reedom' C=

ig.'?.&

,$2Re'"*&!"& Te'h&"l"*y

5ith 2000Rs A%)" model Honda added many features, labelled S)ntelligence *echnologyS, that enableA%)" to interact better with humans. *hese features fall under ? categories'

&. ecognition of moving ob!ects.

2. #ostureNgesture recognition.

C. oving recognition.

=. %ound recognition.

?. ace recognition.

1$Re'"*&!"& "7 "8&* "9@e'!s

A%)" can detect movement of multiple ob!ects, assessing distance and direction using the visual info.captured by the camera.

eatured served by this application are

a.ollow the movements of people

 b.ollow a person

c.Iield to pedestrians in its path.

d.Ereet a person when he or she approaches

2$Re'"*&!"& "7 p"s!-res a&d *es!-res#ositioning and movement of a hand, recogniing postures and gestures. an react and be directed to bothvoice commands and natural movements of human being.

a.ecognie when a handsha9e is offered.

 b.A person waving at it.

c.ovement directions.

C.E&8r"&e&! re'"*&!"&

A%)" can recognie the ob!ects and terrain of his environment and act in a way that is safe for bothhimself and nearby humans.

a.ecogniing potential haards such as stairs.

 b.Avoid hitting humans and other moving ob!ects.

&=

8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 15/19

4$Ds!&*-sh&* s"-&ds

A%)" can distinguish between voices and other sounds.

He can respond to his name, face people when being spo9en to, and recognie sudden, unusual sounds suchas that of a falling ob!ect or a collision, and face in that direction.

,$Fa'al re'"*&!"&

a.A%)" has the ability to recognie faces, even when A%)" or the human being is moving.

 b.)t can individually recognie approximately &0 different faces. "nce they are registered it can address

them by name$

,$#Pr"spe'!s

After four decades of research on humanoid robots impressive results have been obtained, but the real+worldcapabilities of humanoids are still limited. *his should not discourage further research. )n fact, research oncognitive robots, including humanoids, is gaining momentum. ore and more research groups worldwideare targeting this application.

ig.'?.&

A good part of the difficulties humanoid robots face comes from perception. Here, more advancedmethods are developed every year to cope with the ambiguities of sensory signals. *he continuousimprovements of computer vision and speech recog+ nition systems will ma9e it easier to use humanoidrobots in un+ modi/ed environments. Advances are also to be expected from the mechanical side.ultiple research groups develop muscle+ li9e actuators with controllable stiff ness. %uch compliant

actua+ tion will signi/cantly contribute to the safe operation of robots in the close vicinity of humans.ompliance also leads to control schemes that support the dynamics of the body instead of im+ posing

inefficient tra!ectories on it. )nsights from biophysics and neuroscience also give ideas for robust controlstrategies, which degrade gracefully in case of disturbances or component failure.

&?

8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 16/19

ig.'?.2

)n general, research on humanoid robots strengthens the respect for the biological model, the human.uch remains to be learned from it in areas li9e perception, mechanics, and control. ) am convinced that

it will be possible to understand many of natures inventions which account for its astonishing performance. *wo remaining issues could hinder the widespread application of humanoid robots' costsand system complexity. Here, the toy industry played a pioneer role with the introduction of simple,inexpensive humanoid robots. *he low costs needed for the toy mar9et are possible because of the highvolumes. hildren are growing up now with robotic companions. As personal robots mature, they willmeet prepared users.

&B

8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 17/19

CONC3USION

Here, we have discussed about humanoid robot and some of the underlying conceptual principles. *he basisfor our research is the anthropomorphic principles where humanoids are built with very closecorrespondence with humans in terms of sie, weight, geometry and motion capabilities. 5e realiehumanoids capable of cognitive (including behavioral and social$ development. rom a methodological and

developmental standpoint are the pro!ect guided by the embodiment principle and mechanisms for realadaptivity and learning.

&;

8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 18/19

&D

8/16/2019 humaniod

http://slidepdf.com/reader/full/humaniod 19/19

REFERENCESHonda Asimo 5ebsite

History of humanoid robots part &

History of humanoid robots part 2

.

&>