Transcript Humanoid - Montana State University

Humanoid Robots
Debzani Deb
1
History
• Hirokazu Kato, a professor at Waseda University
in Tokyo built Wabot-1
– Could walk, grasp and talk.
• The Wabot-2 was built in 1984
– Could sit on a piano bench, read the music placed on
the music stand above the keyboard with its head (a
TV camera) and play the piece of music.
• By the mid 1990s many humanoid projects are
under way most notably in Japan, Germany and
U.S.
2
Why Humanoid Research?
• To study walking gait of human beings.
• To build teleoperated robot to directly take place
of human.
• To build robots that can perform everyday work.
• To investigate hand-eye coordination for tasks
usually done by people.
• To entertain.
• To study how people do what they do in the
world.
3
Current Humanoid Research
• Humanoid research encompasses a very wide range of
research areas.
• Due to the complexity still rather fragmented.
• The major areas are
– Locomotion and motor control: bipedal walking control and
control of systems with many degrees of freedom and many
sensors.
– Artificial Intelligence : Robot Intelligence, Human Computer
Interaction.
4
Locomotion
• A stable bipedal walking is difficult to achieve.
• The main approaches taken are
–
–
–
–
Model-based
ZMP based (used in Honda & sony robots)
Biologically inspired
Learning
• Honda ASIMO
– 26 degree of freedom
– Walk independently, even climb stairs
• Sony QRIO
– Can dance, run even surf
• RoboSapien
5
Human computer Interaction
• Human robots are more easily accepted.
• Look like humans.
• Interact like Human
–
–
–
–
Speech generation
Gesture generation
Speech recognition
Gesture recognition
• The main task is to make the robot able to perceive,
make their own decisions, learn and interact with human.
6
Kismet (MIT)
• MIT AI lab adopted behavior-based approach and
developed Cog and Kismet to study how social cues can
be elicited from people by robots.
• Kismet is an active vision head with a neck and facial
features.
• It has four camera: two in the steerable eyes and two
wide angle ones embedded in the face.
• Also has active eyebrows, ears, lips and a jaw.
• Altogether it has 17 motors.
7
Many moods of Kismet
8
Kismet (cont.)
• Has capabilities : saccades and smooth pursuit like
human.
• Can detect human faces, estimate gaze direction of a
person and understand what a person paying attention to.
• Express its internal emotional state through facial
expression and prosody in its voice.
• Can able to detect basic prosody in the voices of people
and classify their speech as “praising”, “prohibiting”,
“bidding for attention” or “soothing”.
• Kismet’s perception and control systems runs on more
than a dozen computers.
9
Kismet’s vision
10
References
•
•
•
•
•
•
•
Rodney Brooks, Humanoid Robots, Communications of the ACM, Vol. 45, No. 3
(March 2002). Available at: http://doi.acm.org/10.1145/504729.504751
Humanoid Robotics Group, http://www.ai.mit.edu/projects/humanoid-roboticsgroup/.
R. Brooks, C. Breazeal, M. Marjanovic, and B. Scassellati, “The Cog project:
Building a humanoid robot,” Lecture Notes in Computer Science, vol. 1562, pp.
52–87, 1999.
Robocup, http://www.robocup.org/
Manuela Veloso, Entertainment Robotics, Communications of the ACM, Vol. 45,
No. 3 (March 2002). Available at: http://doi.acm.org/10.1145/504729.504755
http://www.sony.net/SonyInfo/QRIO/top_nf.html
http://asimo.honda.com/
11