04-07-2012, 02:48 PM
Humanoid Robots
Humanoid Robots.pdf (Size: 2.5 MB / Downloads: 55)
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
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
Microcontroller Tasks
• Motor control
– Pulse accumulation, reading of potentiometers
-> current position, speed
– Outer loop controls position @ 60Hz
– Inner loop controls speed @ 120Hz
– Output: PWM, turning direction
• CAN communication
– 60Hz
– State to PC
– Target position, parameters from PC
• Preprocessing of sensor readings
– Robust filtering
Conclusions
• Complex integration task
• Weakest component determines
performance
• Integrated system more than sum of parts
• Synergy effects:
– Audio-visual speech recognition
– Active perception
– Perfect reconstruction of world not needed;
percept must only be sufficient for behavior
control
Humanoid Robots.pdf (Size: 2.5 MB / Downloads: 55)
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
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
Microcontroller Tasks
• Motor control
– Pulse accumulation, reading of potentiometers
-> current position, speed
– Outer loop controls position @ 60Hz
– Inner loop controls speed @ 120Hz
– Output: PWM, turning direction
• CAN communication
– 60Hz
– State to PC
– Target position, parameters from PC
• Preprocessing of sensor readings
– Robust filtering
Conclusions
• Complex integration task
• Weakest component determines
performance
• Integrated system more than sum of parts
• Synergy effects:
– Audio-visual speech recognition
– Active perception
– Perfect reconstruction of world not needed;
percept must only be sufficient for behavior
control