humanoid robotics (tif 160) - chalmersmwahde/courses/hr/2009/hr2009_slides20090901.pdf · humanoid...
TRANSCRIPT
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CHALMERS
Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
Lecture 1, 20090901
Introduction and motivation
to humanoid robotics
Humanoid Robotics (TIF 160)
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
What will you learn? (Aims)� Basic facts about humanoid robots
� Kinematics (and dynamics) of humanoid robots
� Motion of humanoid robots� Locomotion
� Other motions
� Human-robot interaction� Text-to-speech synthesis
� (Speech recognition)
� Image processing (e.g. face tracking, hand-eye coordination)
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
What will you learn? (Aims)� Brain structures for humanoid robots
� Robotic behaviors
� Decision-making
� Humanoid robot programming� Microcontroller programming (Pbasic)
� High-level programming (C#)
� Putting it all together: programming and steering humanoid robots
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Course work� Theoretical exercises (to a rather small extent)
� Practical work with humanoid robots (complete or partial)
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Why should you take this course?� Humanoid robots are becoming increasingly important, and will most likely have a great impact on society in the foreseeable future (10-20 years).
� Humanoid robotics combine several different disciplines: Mechanics, electronics, programming, human-robot interaction, ethology etc. Thus, by studying humanoid robots, you learn a great deal about system engineering.
� Humanoid robots are interesting and fun to work with. ☺
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Course contents� v.1-2
� Lectures
� Theoretical assignments
� Learning C# programming
� Learning PBasic programming
� v.3-7� Robot work (in the ET-lab)
� Assignments
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Course contents (v.1-2)Date Time Room Contents
20090901 08.00-09.45 FL52 Introduction and motivation
20090903 08.00-09.45 FL74 Kinematics, humanoid robot motion
20090904 08.00-09.45 FL74 HRI* (1) Speech synthesis and recognition
20090908 08.00-09.45 FL52 HRI (2) Image processing and object rec.
20090910 08.00-09.45 FL74 Programming humanoid robots (1)
20090911 08.00-09.45 FL74 Programming humanoid robots (2)
* HRI = Human-robot interaction
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Kinematics and dynamics� Direct (forward) kinematics:Determining the position and orientation of a robot part (e.g. a hand), given the joint angles.
� Inverse kinematics:determining the joint angles, given the robot’s posture.
� Dynamics: The response of therobot to the forces acting on it.
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Humanoid robot locomotion� Kondo KHR-1
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Humanoid robot motion � Hubert
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Humanoid robot motion � Kondo KHR-1
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Human-robot interaction (HRI)� The aim of HRI research is to generate a robot capable of interacting with people in a natural way.
� HRI involves topics such as� Scene interpretation (object detection, face detection)
� Face recognition
� Emotion recognition
� Face detection, object detect
� Speech synthesis and recognition
� Dialogue: Analysing input (auditory, visual), making sense of the information (cognitive processing), and responding in an appropriate way
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Robot brain structure� One of the most challenging research topics in contemporary robotics is to provide robots with a robotic brain that is both � ...capable (able to solve the assigned taks robustly) and
� ...expandable (it should be possible to add new skills).
� In the Adaptive systems research group, we are working with a general-purpose structure for robotic brains.
� In this course, you will use a simplified version of this structure.
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Programming� The robotic brain structure has been implemented in C#, which is also the (main) programming language used in this course.
� You will need to learn C#.
� However, you will be given a lot of basic code, so that you can focus on the programmingrelevant for the course.
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Course contents (v.3-7)
� Obviously, you will need to do a lot work outside the class hours as well.
� The detailed lab schedule depends on the number of participants, and will be announced during v. 2
Date Time Room Contents
20090915 13.15-17.00 ET Practical robot work
20090922 13.15-17.00 ET Practical robot work
20090929 13.15-17.00 ET Practical robot work
20091006 13.15-17.00 ET Practical robot work
20091013 13.15-17.00 ET Practical robot work
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Assignments� Basic robot kinematics (theoretical assignment)
� You will study the kinematics of the Hubert robot
� Robot locomotion� You will use the Kondo KHR-1 robot (simulated and real) to generate a motion pattern to solve a particular task
� Text-to-speech (TTS) synthesis� Starting from C# classes provided by me, you will write a basic TTS engine (in C#)
� You will use the TTS engine in connection with the basic robot head, combining TTS, speech recognition, and image processing.
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Assignments� Face tracking and face recognition
� Using the Hubert robot, you will implement (in C# and PBasic) a robotic brain capable of basic coordinated motion
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Literature and programming� Literature
� Lecture notes (not entirely complete...)
� Various web links (e.g. to scientific papers, data sheets, manuals etc.)
� Programming languages� PBasic
� C#
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Examination� The examination will be based on the assignments and the practical robot work.
� The detailed requirements (in terms of the number of points on assignments) will be given during v. 2.
� Assignments will consist of several levels. � The basic level must be solved for a passing grade.
� Solving higher levels makes it possible to receive a higher grade.
� Some assignments will involve individual work and some will involve group work (group size: 4-5 students)
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Examination� NOTE: In order to get a passing grade, you must also return all robot equipment that you have borrowed. This is an absolute requirement for obtaining the final grade!
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Work groups� The work groups will consist of 4-5 students.
� Each group will need to come up with a group name! ☺
� The can be no more than four groups (due to limitedavailability of robotic hardware).
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
To do (today!)� Send me ([email protected]) a registration e-mail today, containing the following information:� Your name
� Your civic registration number (personnummer)
� Students who do not send this information today will be assigned (by me) to a group.
� Note: Preferably, each group should contain at least one student with a laptop (if possible with a serial port (the laptop, not the student ☺ ))
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Download and install...(today!)1) ...C#, either the express version available at http://www.microsoft.com/express/vcsharp/
or the full version (Microsoft visual studio 2008) available on the program server.
2) ...The Basic Stamp Editor (v2.4.2) available at
http://www.parallax.com/tabid/441/Default.aspx
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Download (today!)� Documentation for C# and PBasic can be found on the web. You start familiarizing yourselves with these languages.
� Of course, I will provide information regarding both C# and Pbasic, during the last two lectures in v. 2.
� Of course, you will also (during v.2) be given some sample code, both in C# and PBasic.
� Note: ALL code that you write MUST follow the code standard, which will be made available on the web page (later this week).
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Student-teacher interaction� During the course you are (of course) very welcometo ask questions at any time, not only during lectures.
� In order to do so, preferably come to my office (see the directions on the next slide).
� As a second alternative, send an e-mail. However, since I receive many e-mails every day, the best way of asking questions is to come to my office.
� Note: Please make use of the possibility to ask questions.
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Office location� Mechanical engineering building (nya M-huset), 1st floor.
� Enter near Café Bulten, follow the blue signs to ”Applied Mechanics” (Tillämpad mekanik)
� Dial my extension (3727) at the door.
Bulten Café My office
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Introduction to humanoid robotsSee chapter 1 in the lecture notes...
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Robot types� Stationary robots
� Manipulators (used in industry)
� Mobile robots� Wheeled
� Walking
� (Flying etc.)
� Note: The distinction between robots and non-robot mechanical systems is not always entirely clear. Example: Automatic braking in cars (just before a collision).
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Walking robots� Monopedal
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Walking robots� Monopedal
� Bipedal
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Walking robots� Monopedal
� Bipedal
� Quadrupedal
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Walking robots� Monopedal
� Bipedal
� Quadrupedal
� Sextupedal
� etc.
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Bipedal robots� Humanoid robots: Robots with an approximately human-like shape (anthropomorphic)
� Androids: Robots that (attempt to) exactly look like humans, including skin etc.
� In some cases (e.g. for HRI) studiesa partial humanoid can be sufficient.
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Why humanoid robots?� More natural to interact with (for people), than wheeled robots.
� Designed (by construction) for operation in environments designed for people.
� Capable of walking in stairs etc.
� Engineering challenge.
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Challenges in humanoid robotics� Generating robust, natural (human-like) movements.
� Extending the time of operation (battery technology…).
� Development of capable and extendable robotic brains (robotic behaviors, decision-making systems).
� Reducing the cost of humanoid robots.
� Legal issues…
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
An illustration...
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Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: [email protected] www: www.me.chalmers.se/~mwahde
CHALMERS
Another illustration...