HUMANOID ROBOT

Presented by: k. Ramya krishna

DEFNITIONSSYSTEM STRUCTURESENSORS AND ACTUATORSAPPLICATIONSADVANTAGESDISADVANTAGES

OVERVIEW

WHAT IS A ROBOT•A robot can be defined as a programmable, self-controlled device consisting of electronic, electrical, or mechanical units

•operate in precisely structured environments and perform single highly repetitive tasks under preprogrammed control.•Robot Types: Mobile Robot, Industrial Robot Service Robot ,Humanoid Robot

 

• A humanoid robot is a robot with its body shape built to resemble that of the human body

• A humanoid design might be for functional purposes, such as interacting with human tools and environments, for experimental purposes

WHAT IS A HUMANOID ROBOT

A robot specification standard One command interface Four command modes between client and

server:◦ Direct◦ Delay◦ Playback◦ Broadcast

Easy-to-change robot driver implementation on the server-end

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Contributions

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System Architecture

System Overview Client/Server Structure Four Communication Modes

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Architecture - Specification Standard

Configuration Spec

Command Spec

Communication Spec

Abstraction

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Architecture - System Overview

Client/Server

...

Client

Client

Server

Asimo Library

Pioneer Library

Simulator

QuickTime™ and aTIFF (Uncompressed) decompressor

are needed to see this picture.

QuickTime™ and aTIFF (Uncompressed) decompressor

are needed to see this picture.

Configuration Spec

Command Spec

Communication Spec

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Architecture - Robotalk Server

Server Daemon

Robot Daemon

Read and Write TCP/IP sockets

Issue Robot Driver Calls

CClientConnection

CClientConnection

Provide: Buffering, Scheduling, Panic, etc.

Class Interface

.

..

CRobotDriver

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Architecture - Communication Modes

Direct mode: blocking & instantaneous, for debug purposes

Delay mode: nonblocking, instantaneous or delay

Playback mode: nonblocking, adaptive caching based on channel quality

Broadcast mode: periodic query feedback

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Direct Mode

Client Server Sync system clock

Clock

Command Cache

RobotDaemon

Client

Function call

Cache Return Cachereturn

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Delay Mode

Client Server Sync system clock

RobotDaemon

Client

Cache

Function call

return

Delay

Command Cache

Clock +

Return Cache

error signal

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Playback Mode

Client

Cache

Function call

return

Return Cache

error signal

Clock

Playback Cache

Command Cache

Delay

RobotDaemon

Client Server

Length of the sequence

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Broadcast Mode

Client

Cache

Broadcast

call

return

Command Cache

RobotDaemon

Return Cachedata

Delay

sensors

A sensor is a device that measures some attributeTwo types of physical processes Proprioceptive sensors:sense the position, the orientation and speed of body and jointsExteroceptive sensors: like vision sensors(ccd), sound sensors(microphone)Actuators: motors responsible for motionPiezoelectric actuators: for small movements when voltage is applied

TOPIO, a humanoid robot, played ping pong at Tokyo

Nao (robot) is a robot created for companionship. It also competes in the RoboCup soccer championship.

APPLICATIONS

Enon was created to be a personal assistant. It is self-guiding and has limited speech recognition and synthesis. It can also carry things.

Archie:The control system of Archie is based on a hierarchy structure with a central controller. The central controller which entitles an HydraXC50 (Xilinx Virtex 4 FPGA) is designed to run a Real Time Linux (RT-Linux)

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In the hall President at the Walt Disney World theme park Florida, America contains robots that created to imitate past and current presidents

They are becoming increasingly popular for providing entertainment too

Ursula, a female robot, sings, play music, dances, and speaks to her audiences at Universal Studios. Several Disney attractions employ the use of animatrons, robots that look, move, and speak

Humanoid robots, especially with artificial intelligence algorithms, could be useful for future dangerous and/or distant space exploration missions, without having the need to turn back around again and return to Earth once the mission is completed.

ADVANTAGES

Plenty of humans already who do not have jobs or good places to live , then why replace with Humanoids

Why not keep humanoids, like calculators, merely as useful gadgetry? Robots will become super intelligent and rule this world.

DISADVANTAGES

THANK YOU