Humanoid RobotsAshish Ranjan | ME08B093Department of Mechanical EngineeringIIT Madras

Outline•Basic Terminologies•Basic Components of a Humanoid Robot•Examples▫The Shadow Hand▫ASIMO▫Some other Robots

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Basic TerminologiesHumanoid Robot•Also called anthropomorphic robot •It is a robot with its overall appearance, based on that of the human body, allowing interaction with made-for-human tools or environments

•In general humanoid robots have a torso with a head, two arms and two legs

•But some forms of humanoid robots may model only part of the body

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Humanoid Robots

Basic TerminologiesAndroid•An android is a robot or synthetic organism designed to look and act like a human, and with a body having a flesh-like resemblance.

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Basic TerminologiesGynoid•Although android is used almost universally to refer to both sexes, and those of no particular sex, Android technically refers to the male form, while Gynoid is the feminine form

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Basic Components of a Humanoid Robot•Almost anything that would be considered a humanoid robot has the following basic elements: ▫a moveable body, ▫an actuator, ▫a power source, ▫an electrical circuit, ▫a reprogrammable brain (computer) and ▫a sensory system.

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Sensors•Sensors used in Humanoid Robots are of basically two types:▫Proprioceptive Sensors

Proprioception is the sense of the relative position of neighbouring parts of the body and strength of effort being employed in movement

▫Exteroceptive Sensors Exteroception is the sense by which we perceive the outside world

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Actuators•Humanoid robots are constructed in such a way that they mimic the human body, so they use actuators that perform like muscles and joints, though with a different structure

•To achieve the same effect as human motion, humanoid robots use mainly rotary actuators

•They can be either electric, pneumatic, hydraulic or piezoelectric

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Actuators contd…Pneumatic Artificial Muscles•Pneumatic artificial muscles (PAMs) are contractile or extensional devices operated by pressurized air filling a pneumatic bladder

•In a vague approximation of human muscles, PAMs are usually grouped in pairs: one agonist and one antagonist

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Artificial Intelligence•What does it mean to be intelligent?  ▫If a robot can solve complex problems, does that mean it's intelligent? 

▫If a robot can recognize particular patterns in large sets of data or mimic human speech and movement, would those abilities make it intelligent?

•The people in the field of Artificial Intelligence (AI) have long struggled to establish a universal intelligence-measuring tool for robots

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Artificial Intelligence contd…

•One method of measurement is The Turing Test that focuses on a machine's ability to converse with humans

•Many scientists who work in the field of AI see the computerized re-creation of the human thought process as the ultimate goal of their research

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Shadow HandThe Humaniform Robot Hand by The Shadow Robot

Company

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Shadow Hand•The Shadow Hand is comparable to a human hand in size and shape, and reproduces all of its degrees of freedom •The Shadow Hand is commercially available and currently used by NASA, Bielefeld University and Carnegie Mellon University •The movements of the hand are powered by a set of 40 Air Muscles in the forearm•The flow of air into and out of each muscle is controlled by eighty valves, also in the forearm •Shadow hand costs more than US$100,000

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ASIMOThe Humanoid Robot by HONDA

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ASIMOAdvanced Step in Innovative Mobility•ASIMO is a humanoid robot created by Honda•ASIMO was designed to operate in real-world environments, with the ability to walk or run on two feet at speeds up to 6 kmph•ASIMO has 34 degrees of freedom spread over different points of its body in order to allow it to move freely

• three degrees of freedom in ASIMO's neck,

• seven on each arm and • six on each leg

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Humanoid Robots

ASIMOSmooth Moves

•When we walk around corners, we shift our centre of gravity into the turn

•ASIMO uses a technology called "predictive movement control," also called Honda's Intelligent Real-Time Flexible Walking Technology or I-Walk, to accomplish that same thing

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ASIMOSmooth Moves

•ASIMO adjusts any of the following factors in order to maintain the right position:▫the length of its steps▫its body position▫its speed▫the direction in which it is stepping

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ASIMOControlling ASIMO

•ASIMO is not an autonomous robot•ASIMO either has to be programmed to do a specific job in a specific area that has markers that it understands, or it has to be manually controlled by a human

•ASIMO can be controlled by three methods:▫Wireless Controller▫Gestures▫Voice Commands

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ASIMOPowering ASIMO

•ASIMO is powered by servo motors •ASIMO has 34 servo motors in its body that move its torso, arms, hands, legs, feet, ankles and other moving parts

•ASIMO manages a series of servo motors to control each kind of movement

•ASIMO is powered by a rechargeable 51.8 volt lithium ion (Li-ION) battery that lasts for one hour on a single charge

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Other Humanoid Robots

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Toyota’s Partner Robot•The Toyota Partner Robots are a series of humanoid robots developed by Toyota •They debuted playing music on drums and trumpets at the 2005 World EXPO in Aichi, Japan •The robot reaches 7 km/hour, however walking and running can only be achieved on flat surfaces

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Humanoid Robots

Sony’s QRIO•QRIO stands for Quest for cuRIOsity•It was originally named Sony Dream Robot or SDR•QRIO is capable of voice and face recognition, making it able to remember people as well as their likes and dislikes •QRIO can run at 23 cm/s, and is credited in Guinness World Records (2005 edition) as being the first bipedal robot capable of running (which it defines as moving while both legs are off the ground at the same time)

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Kokoro Company's Actroid•Actroid is a type of humanoid robot with strong visual human-likeness developed by Osaka University and manufactured by Kokoro Company Ltd.•The skin is composed of silicone and appears highly realistic •The Actroid can also imitate human-like behaviour with slight shifts in position, head and eye movements and the appearance of breathing in its chest

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Kawada Industries' HRP •The HRP Series also goes by the name PROMET•The project started with three Honda P3 which were bought from Honda •An interesting feature that HRP-2 has is the ability to stand up again after lying flat on the floor either on its back or front

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Fujitsu's HOAP Series•The HOAP series robots are an advanced humanoid robot platform manufactured by Fujitsu Automation in Japan •HOAP is an abbreviation for Humanoid for Open Architecture Platform•Capabilities of HOAP-2

• Walking on flat terrain • Performing sumo

movements• Cleaning a whiteboard• Following a ball• Grasping thin objects

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ZMP Robots•Nuvo is a robot designed by ZMP•It is designed to be a helpmate and home companion•It listens, reacts, walks and talks•It is 15 inches tall and contains 15 motors•Released in 2005

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References• wikipedia.com • science.howstuffworks.com • http://www.tms.org/pubs/journals/JOM/0311/Byko-0311.html

• https://engineering.purdue.edu/artlab/research/humanoid-robot.html

• http://www.robotadvice.com/zmp_robot.html

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Thank You

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