22-05-2012, 11:13 AM
Humanoid Robotics
313-humanoid-robots-slides.pdf (Size: 2.5 MB / Downloads: 94)
Need for Humanoid Robots
• Industrial robots not flexible enough
for unmodified environments
• Separated from humans
• New applications: Service, household
helper, entertainment, ...
• Interaction with people needed
• Human-like body helps when acting in
environments designed for humans
• Intuitive multimodal communication
• Programming by demonstration,
imitation learning
Karlsruhe
Artificial Intelligence Research
• Intelligence needs body (Embodiment)
and interaction with environment
(Situatedness)
• Since 1997 RoboCup competitions
• Soccer as new AI benchmark
RoboCup Humanoid League
• Since 2002
• Step towards long-term goal:
“By the year 2050, develop a team of fully
autonomous humanoid robots that can win
against the human world soccer champion
team.”
• So far, preliminary competitions:
– Walking
– Penalty kicks
– Free performance
– Technical challenges
Alpha
• 21 DOFs
– 6 per leg,
– 3 per arm,
– 3 in the trunk
– Geared DC motors
• 155cm, ~30kg
• Dummy head and hands
313-humanoid-robots-slides.pdf (Size: 2.5 MB / Downloads: 94)
Need for Humanoid Robots
• Industrial robots not flexible enough
for unmodified environments
• Separated from humans
• New applications: Service, household
helper, entertainment, ...
• Interaction with people needed
• Human-like body helps when acting in
environments designed for humans
• Intuitive multimodal communication
• Programming by demonstration,
imitation learning
Karlsruhe
Artificial Intelligence Research
• Intelligence needs body (Embodiment)
and interaction with environment
(Situatedness)
• Since 1997 RoboCup competitions
• Soccer as new AI benchmark
RoboCup Humanoid League
• Since 2002
• Step towards long-term goal:
“By the year 2050, develop a team of fully
autonomous humanoid robots that can win
against the human world soccer champion
team.”
• So far, preliminary competitions:
– Walking
– Penalty kicks
– Free performance
– Technical challenges
Alpha
• 21 DOFs
– 6 per leg,
– 3 per arm,
– 3 in the trunk
– Geared DC motors
• 155cm, ~30kg
• Dummy head and hands