Humanoid Robots Debzani Deb 1 History Hirokazu Kato

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 1990 s 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 • Robo. Sapien 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/Sony. Info/QRIO/top_nf. html http: //asimo. honda. com/ 11