26-08-2014, 12:51 PM
HUMANOID ROBOT SEMINAR REPORT
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ABSTRACT
Humanoid Robot is one of the most ambitious and exciting ventures of the technology field. Today, there have been many human-like robots created. These humanoids perform many functions to assist humans in different undertakings. These include space missions, driving and monitoring high speed vehicles and many more. They are called humanoids because they resemble humans. They have sensors and actuators which do the actual work of motion. Sensors detect changes in environment like motion, heating, change in direction and actuators are the motors responsible for movement. These human robots have a motion which is close to that of humans. The actuators used are mainly rotary actuators in order to get the human-like motions.
Human body and its movements have to be studied in great detail to get the desired motion from the humanoids. This study is known as biomechanics. It is this that differentiates humanoids from other robots. Many tech companies like Honda, Sony and Sansui have been aggressors at developing humanoids that can perform motion resembling humans. Since ancient times, people have been curious about humanoids. Designing and imagination of humanoids goes back to the 14th century. Although it's still in its growing stage, development of advanced humanoids is a field that has a promising future.
Key words: sensors.actuators
INTRODUCTION
The field of humanoids robotics, widely recognized as the current challenge for robotics research, is attracting the interest of many research groups worldwide. Important efforts have been devoted to the objective of developing humanoids and impressive results have been produced, from the technological point of view, especially for the problem of biped walking.
In Japan, important humanoid projects, started in the last decade, have been carried on by the Waseda University and by Honda Motor Co.
The Humanoid Project of the Waseda University, started in 1992, is a joint project of industry, government and academia, aiming at developing robots which support humans in the field of health care and industry during their life and that share with human information and behavioral space, so that particular attention have been posed to the problem of human-computer interaction. Within the Humanoid Project, the Waseda University developed three humanoid robots, as research platforms, namely Hadaly 2,Wabian and Wendy.
Impressive results have been also obtained by Honda Motor Co. Ltd with P2 and P3, self-contained humanoid robots with two arms and two legs, able to walk, to turn while walking, to climb up and down stairs. These laboratories on their humanoid robots carry on studies on human-robot interaction, on human-like movements and behavior and on brain mechanics of human cognition and sensory-motor learning.
THEBIOMECHATRONIC APPROACH FOR THE 1DEVELOPMENT OF ARTIFICIAL HANDS
The main goal in designing a novel humanoid hands is to fulfill critical requirements such as functionality, controllability, low weight, low energy consumption and noiseless. These requirements can be fulfilled by an integrated design approach called biomechatronic design.
The first step towards this objective is to enhance the hand dexterity by increasing the DOF and reducing size of the system. The main problem in developing such a hand is the limited space available to integrate actuators within the hand. Anyway, recent progress in sensors, actuators and embedded control technologies are encouraging the development of such hand.
SYSTEM ARCHITECTURE
The proposed biomechatronic hand will be equipped with three actuators systems to provide a tripod grasping: two identical finger actuators systems and one thumb actuator system.
The finger actuator system is based on two micro actuators which drive respectively the metacarpo-phalangeal joint (MP) and the proximal inter-phalangeal joint (PIP); for cosmetic reasons, both actuators are fully integrated in the hand structure: the first in the palm and the second within the proximal phalanx. The distal inter-phalangeal (DIP) joint is driven by a four bar link connected to the PIP joint.
KINEMATIC ARTITE CTURE
A first analysis based on the kinematics characteristics of the human hand, during grasping tasks, led us to approach the mechanical design with a multi-DOF hand structure. Index and middle finger are equipped with active DOF respectively in the MP and in the PIP joints, while the DIP joint is actuated by one driven passive DOF.
The thumb movements are accomplished with two active DOF in the MP joint and one driven passive DOF in the IP joint. This configuration will permit to oppose the thumb to each finger
A NEURO-FUZZY APPROACH TO GRASP PLANNING
The first module has the aim of providing the capability of planning the proper hand, in the case of a multi-fingered hand, based on geometrical features of the object to be grasped. A neuro-fuzzy approach is adopted for trying to replicate human capability of processing qualitative data and of learning.
The base of knowledge on which the fuzzy system can process inputs and determine outputs is built by a neural network (NN). The trained system has been validated on a test set of 200 rules, of which the 92.15% was correctly identified
INTEGRATION OF VISION AND TOUCH IN EDGE TRACKING
In order to validate the anthropomorphic model of sensory-motor co-ordination in grasping, a module was implemented to perform visual and tactile edge tracking, considered as the first step of sensory-motor co-ordination in grasping actions.
The proposed methodology includes the application of the reinforcement-learning paradigm to back propagation NNs, in order to replicate the human capability of creating associations between sensory data and motor schemes, based on the results of attempts to perform movements. The resulting robot behavior consists in co-ordinating the movement of the fingertip along an object edge, by integrating visual information on the edge, proprioceptive information on the arm configuration, and tactile information on the contact, and by processing this information in a neural framework based on the reinforcement-learning paradigm
REAL-TIME FACIAL GESTURE RECOGNITION SYSTEM
Gestures are an important form of communication between people. We regard expressions of the face as one of the most natural forms of human expression and communication. People who are elderly, disabled or just inexperienced users of computer technology a gesture interface would open the door to many applications ranging from the control of machines to “helping hands”. The crucial aspect of a gesture interface is not only real-time performance, but also the ability to operate robustly in difficult real world environments.
THE VISION SYSTEM
The use of MEP tracking system is made to implement the facial gesture interface. This vision system is manufactured by Fujitsu and is designed to track in real time multiple templates in frames of a NTSC video stream. It consists of two VME-bus cards, a video module and tracking module, which can track up to 100 templates simultaneously at video frame rate (30Hz for NTSC).
CONCLUSION
The humanoid research is an approach to understand and realize flexible complex interactions between robots, environment and humans.
A humanoid robot is an ideal tool for the robotics research; First of all it introduces complex interactions due to its complex structure. It can be involved in various physical dynamics by just changing its posture without need for a different experimental platform. This promotes a unified approach to handling different dynamics. Since it resembles humans, we can start by applying our intuitive strategy and investigate why it works or not. Moreover, it motivates social interactions such as gestural communication or cooperative tasks in the same context as the physical dynamics. This is essential for three-term interaction, which aims at fusing physical and social interaction at fundamental levels
[attachment=67046]
ABSTRACT
Humanoid Robot is one of the most ambitious and exciting ventures of the technology field. Today, there have been many human-like robots created. These humanoids perform many functions to assist humans in different undertakings. These include space missions, driving and monitoring high speed vehicles and many more. They are called humanoids because they resemble humans. They have sensors and actuators which do the actual work of motion. Sensors detect changes in environment like motion, heating, change in direction and actuators are the motors responsible for movement. These human robots have a motion which is close to that of humans. The actuators used are mainly rotary actuators in order to get the human-like motions.
Human body and its movements have to be studied in great detail to get the desired motion from the humanoids. This study is known as biomechanics. It is this that differentiates humanoids from other robots. Many tech companies like Honda, Sony and Sansui have been aggressors at developing humanoids that can perform motion resembling humans. Since ancient times, people have been curious about humanoids. Designing and imagination of humanoids goes back to the 14th century. Although it's still in its growing stage, development of advanced humanoids is a field that has a promising future.
Key words: sensors.actuators
INTRODUCTION
The field of humanoids robotics, widely recognized as the current challenge for robotics research, is attracting the interest of many research groups worldwide. Important efforts have been devoted to the objective of developing humanoids and impressive results have been produced, from the technological point of view, especially for the problem of biped walking.
In Japan, important humanoid projects, started in the last decade, have been carried on by the Waseda University and by Honda Motor Co.
The Humanoid Project of the Waseda University, started in 1992, is a joint project of industry, government and academia, aiming at developing robots which support humans in the field of health care and industry during their life and that share with human information and behavioral space, so that particular attention have been posed to the problem of human-computer interaction. Within the Humanoid Project, the Waseda University developed three humanoid robots, as research platforms, namely Hadaly 2,Wabian and Wendy.
Impressive results have been also obtained by Honda Motor Co. Ltd with P2 and P3, self-contained humanoid robots with two arms and two legs, able to walk, to turn while walking, to climb up and down stairs. These laboratories on their humanoid robots carry on studies on human-robot interaction, on human-like movements and behavior and on brain mechanics of human cognition and sensory-motor learning.
THEBIOMECHATRONIC APPROACH FOR THE 1DEVELOPMENT OF ARTIFICIAL HANDS
The main goal in designing a novel humanoid hands is to fulfill critical requirements such as functionality, controllability, low weight, low energy consumption and noiseless. These requirements can be fulfilled by an integrated design approach called biomechatronic design.
The first step towards this objective is to enhance the hand dexterity by increasing the DOF and reducing size of the system. The main problem in developing such a hand is the limited space available to integrate actuators within the hand. Anyway, recent progress in sensors, actuators and embedded control technologies are encouraging the development of such hand.
SYSTEM ARCHITECTURE
The proposed biomechatronic hand will be equipped with three actuators systems to provide a tripod grasping: two identical finger actuators systems and one thumb actuator system.
The finger actuator system is based on two micro actuators which drive respectively the metacarpo-phalangeal joint (MP) and the proximal inter-phalangeal joint (PIP); for cosmetic reasons, both actuators are fully integrated in the hand structure: the first in the palm and the second within the proximal phalanx. The distal inter-phalangeal (DIP) joint is driven by a four bar link connected to the PIP joint.
KINEMATIC ARTITE CTURE
A first analysis based on the kinematics characteristics of the human hand, during grasping tasks, led us to approach the mechanical design with a multi-DOF hand structure. Index and middle finger are equipped with active DOF respectively in the MP and in the PIP joints, while the DIP joint is actuated by one driven passive DOF.
The thumb movements are accomplished with two active DOF in the MP joint and one driven passive DOF in the IP joint. This configuration will permit to oppose the thumb to each finger
A NEURO-FUZZY APPROACH TO GRASP PLANNING
The first module has the aim of providing the capability of planning the proper hand, in the case of a multi-fingered hand, based on geometrical features of the object to be grasped. A neuro-fuzzy approach is adopted for trying to replicate human capability of processing qualitative data and of learning.
The base of knowledge on which the fuzzy system can process inputs and determine outputs is built by a neural network (NN). The trained system has been validated on a test set of 200 rules, of which the 92.15% was correctly identified
INTEGRATION OF VISION AND TOUCH IN EDGE TRACKING
In order to validate the anthropomorphic model of sensory-motor co-ordination in grasping, a module was implemented to perform visual and tactile edge tracking, considered as the first step of sensory-motor co-ordination in grasping actions.
The proposed methodology includes the application of the reinforcement-learning paradigm to back propagation NNs, in order to replicate the human capability of creating associations between sensory data and motor schemes, based on the results of attempts to perform movements. The resulting robot behavior consists in co-ordinating the movement of the fingertip along an object edge, by integrating visual information on the edge, proprioceptive information on the arm configuration, and tactile information on the contact, and by processing this information in a neural framework based on the reinforcement-learning paradigm
REAL-TIME FACIAL GESTURE RECOGNITION SYSTEM
Gestures are an important form of communication between people. We regard expressions of the face as one of the most natural forms of human expression and communication. People who are elderly, disabled or just inexperienced users of computer technology a gesture interface would open the door to many applications ranging from the control of machines to “helping hands”. The crucial aspect of a gesture interface is not only real-time performance, but also the ability to operate robustly in difficult real world environments.
THE VISION SYSTEM
The use of MEP tracking system is made to implement the facial gesture interface. This vision system is manufactured by Fujitsu and is designed to track in real time multiple templates in frames of a NTSC video stream. It consists of two VME-bus cards, a video module and tracking module, which can track up to 100 templates simultaneously at video frame rate (30Hz for NTSC).
CONCLUSION
The humanoid research is an approach to understand and realize flexible complex interactions between robots, environment and humans.
A humanoid robot is an ideal tool for the robotics research; First of all it introduces complex interactions due to its complex structure. It can be involved in various physical dynamics by just changing its posture without need for a different experimental platform. This promotes a unified approach to handling different dynamics. Since it resembles humans, we can start by applying our intuitive strategy and investigate why it works or not. Moreover, it motivates social interactions such as gestural communication or cooperative tasks in the same context as the physical dynamics. This is essential for three-term interaction, which aims at fusing physical and social interaction at fundamental levels