World Technology Evaluation Center International Study of Robotics Research. Humanoids. (Current as of June 6, 2005) Humanoids Study Group

Transcription

1 World Technology Evaluation Center International Study of Robotics Research Humanoids (Current as of June 6, 2005) Humanoids Study Group Robert Ambrose, NASA Johnson Space Center (Presenter) Yuan Zheng, Ohio State University Brian Wilcox, NASA Jet Propulsion Laboratory Humanoids I- Introductions What are Humanoids? -Machines that have the form or functions of humans Honda, Japan SARCOS, USA Toyota, Japan AIST, Japan

2 Humanoids: I- Introductions Capek,R.U.R. Paris Production, 1924 Humanoid History -The word robot was defined in Rossum's Universal Robots" by the Czech writer Karel Capek -Capek s Robots were humanoid Workers -All early Science fiction robots were Humanoids (Asimov 1941) Asimov, 1950, Will Smith, 2004 Humanoids: I- Introductions Why are Humanoids Important? - Can go where people can go - Can work in environments engineered for humans - Can work with people - Can work with objects AIST, Japan NASA, USA Honda, Japan

3 Humanoids: I- Introductions How are Humanoids Built? - Lower body Mobility Wheels, Legs, Tracks MIT, USA - Upper Body Eye-hand coordination Arms, Hands, Heads Toyota, Japan Humanoids: I- Introductions Gross Anatomy - Heads - Torsos -Arms - Hands -Legs AIST, Japan

4 Humanoids: II- Fundamental Research Challenges Current Challenges in Humanoids - Design, packaging, and power - Bipedal Walking - Dexterous Hands - Mobile Manipulation - Human-Robot Interaction DLR, Germany AIST, Japan Honda, Japan NASA, USA Humanoids: II- Basic Challenges Prototype Challenges Design (High strength/weight limbs) Packaging (Embedded avionics) Power (Storage and dissipation) Key Breakthroughs DLR, Germany High torque density drives Miniaturization of avionics Improved battery chemistries NASA, USA

5 Humanoids: II- Basic Challenges The latest in Walking - Most modern bipeds use ZMP algorithm - Walking on rough terrain - Straight leg walking - Using the upper body Waseda, Japan Honda, Japan Humanoids: II- Basic Challenges Dexterity - Opposable Thumbs - Most Humanoids have 2 fingers - Multi fingered hands allow a wide range of grasps TUM, Germany Shadow, UK MIT, USA

6 Humanoids: II- Basic Challenges Mobile Manipulation -Its easier if the work comes to you. -Henry Ford s model was right -But often, work is where you find it -Combine limbs & mobility -Expands the workspace -Go to the worksite NASA, USA -Use Upper body for stability -Avoid falling -Get back up AIST, Japan Humanoids: II- Basic Challenges Human-Robot Interaction Safety Smart and sensate Soft and forgiving Collaborative Human-Robot Teams Information interaction Physical interaction Osaka Univ., Japan MIT, USA

7 Humanoids: III- International Survey Humanoids: III- International Survey US Humanoids SPAWAR, USA MIT, USA SARCOS, USA NASA, USA MIT, USA UMass USA

8 Humanoids: III- International Survey Japanese and Korean Humanoids Listed By Scale P Series HRP Series H Series WABIAN Series KIST NBH-1 POSTECH Unnamed KHR Series SDR Series HOAP Series P Series Honda History P-1 ( ) P-2 ( ) P-3 ( ) P-4 Asimo ( -2004) P-5 Asimo II (-2005) Specs (P3/Asimo) Mass 58Kg Height 1.5m DOF 30 Power 48V 18Ahr Distinctions Large and Medium Scales Shocked the World in 1996 Maximum Secrecy Multi-Generational

9 Honda P Series Waseda University History Wabot-1 (1970) Hadaly (1984) Wbiban I (1997) Wendy (2001) Waiban II In Progress Specs (Wendy) Mass 161 Kg Height 1.47 m DOF 52 Power Offboard Distinctions Medium/Large Scale Long History Hands and Arms Dynamic Walking (WABIAN II) Waseda Series

10 Kawada Ind., AIST, MITI History HRP-1L, HRP-1P, HRP-1 (2001) HRP-2L, HRP-2P, HRP-2 (2003) HRP-3 In Progress Today Specs Mass 58Kg Height 1.5m DOF 30 Power 48V 18Ahr HRP Series Distinctions Medium/Large Scale Can get up from floor Multi-Generational Human Cooperation Tool Use H Series Univ. of Tokyo, Kawada, AIST History H-6 ( ) H-7 (1997) Specs (H7) Mass 55Kg Height 1.37m DOF 35 Power? Distinctions Medium/Large Scale Large University Effort Still Works Multi-Generational

11 Kist NBH-1 Series KIST, South Korea History First in Series NBH-1 (2005) Staff came from POSTech NBH-1 Mass Height DOF 57 Kg 1.5m 41 Distinctions Embedded avionics Work with Samsung? Secrecy (Jan 6, 2005) KHR Series KAIST, South Korea History KHR-3 HUBO $0.8M over 3 years! KHR-1 (2002) KHR-2 (2003) 60Widle, 250W walking 24v, 7Ah, 160Wh 12V, 10Ah, 120Wh KHR-3 HUBO (2005) 300+ Wh, 3 Axis F/T Wrist Dual knee motors, 400W JMC JMC 2 ch A/D, CAN, 16Bit Micom Mass 55 Kg Height 1.25m DOF m step in sec Distinctions 10 Fingered Hands 2x5=10DOF Enormous cable loops, wrsit, shoulder and hips Secrecy (Feb 24, 2005)

12 Sony History SDR-1X (1997) SDR-2X (1999) SDR-3X (2001) SDR-4X II named QRIO (2003) Specs (H7) Mass 7 Kg Height 0.37m DOF 35 Power 48V 18Ahr Distinctions Fast, interactive, smart Hands, eyes, ears Multi-Generational SDR Series HOAP Series Fujitsu History HOAP 1 (2000) HOAP 2 (2002) Specs (H7) Mass 5 Kg Height 0.30m DOF 29 Power 12V Distinctions Most open to sales Co-evolved with other robots COTS Actuators High Strength : Weight

13 Humanoids: III- International Survey European Humanoids ARMAR, Germany Bundeswehr, Germany TUM, Germany Shadow, UK DLR, Germany Humanoids: IV- International Comparison Momentum ASIA # Labs # Robots Funding **** **** **** USA ** ** * Europe * * *

14 Humanoids: IV- International Comparison Tech Thrusts Japan Korea USA Europe Biped Legs **** ** * Dexterous Limbs * **** *** Interactive Heads *** ** * Humanoids: IV- International Comparison Differences Japan Korea USA Europe Specialties Lower Bodies Upper Bodies - Near Term Plans Hands - - Organization / Approaches National Evolving - -