How to build a humoid robot

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  • Welcome
    Twitter: dtsn
  • Where are the humanoid robots
    Popularised by 20th century fiction (iRobot, 2001, Dr Who)
    Surprised to hear that the first humanoid was created over 500 years ago
  • Leonardos Robot
    Design in 1495
    Concept has been around for a long time
    But why haven’t we got further
    They are complicated ....
  • Where to start ....
    Hardware architecture, things like walking, hands, sight
    But first ....
    Software architecture, software behind the robot (AI?)
  • Where to start ....
    Hardware architecture, things like walking, hands, sight
    But first ....
    Software architecture, software behind the robot (AI?)
  • Layered approach to software architecture, known as subsumption
    Decision layer, higher level processing (split in sub components)
    Reactive layer, for fast quick responses (mimics the spinal cord)
    - Sub processors embedded into key systems like hands accelerometers etc.
    - Great example of the reactive layer is the Song QRIO

  • Layered approach to software architecture, known as subsumption
    Decision layer, higher level processing (split in sub components)
    Reactive layer, for fast quick responses (mimics the spinal cord)
    - Sub processors embedded into key systems like hands accelerometers etc.
    - Great example of the reactive layer is the Song QRIO

  • Layered approach to software architecture, known as subsumption
    Decision layer, higher level processing (split in sub components)
    Reactive layer, for fast quick responses (mimics the spinal cord)
    - Sub processors embedded into key systems like hands accelerometers etc.
    - Great example of the reactive layer is the Song QRIO

  • Layered approach to software architecture, known as subsumption
    Decision layer, higher level processing (split in sub components)
    Reactive layer, for fast quick responses (mimics the spinal cord)
    - Sub processors embedded into key systems like hands accelerometers etc.
    - Great example of the reactive layer is the Song QRIO

  • Layered approach to software architecture, known as subsumption
    Decision layer, higher level processing (split in sub components)
    Reactive layer, for fast quick responses (mimics the spinal cord)
    - Sub processors embedded into key systems like hands accelerometers etc.
    - Great example of the reactive layer is the Song QRIO

  • Layered approach to software architecture, known as subsumption
    Decision layer, higher level processing (split in sub components)
    Reactive layer, for fast quick responses (mimics the spinal cord)
    - Sub processors embedded into key systems like hands accelerometers etc.
    - Great example of the reactive layer is the Song QRIO

  • Layered approach to software architecture, known as subsumption
    Decision layer, higher level processing (split in sub components)
    Reactive layer, for fast quick responses (mimics the spinal cord)
    - Sub processors embedded into key systems like hands accelerometers etc.
    - Great example of the reactive layer is the Song QRIO

  • Layered approach to software architecture, known as subsumption
    Decision layer, higher level processing (split in sub components)
    Reactive layer, for fast quick responses (mimics the spinal cord)
    - Sub processors embedded into key systems like hands accelerometers etc.
    - Great example of the reactive layer is the Song QRIO

  • Layered approach to software architecture, known as subsumption
    Decision layer, higher level processing (split in sub components)
    Reactive layer, for fast quick responses (mimics the spinal cord)
    - Sub processors embedded into key systems like hands accelerometers etc.
    - Great example of the reactive layer is the Song QRIO

  • Layered approach to software architecture, known as subsumption
    Decision layer, higher level processing (split in sub components)
    Reactive layer, for fast quick responses (mimics the spinal cord)
    - Sub processors embedded into key systems like hands accelerometers etc.
    - Great example of the reactive layer is the Song QRIO

  • Layered approach to software architecture, known as subsumption
    Decision layer, higher level processing (split in sub components)
    Reactive layer, for fast quick responses (mimics the spinal cord)
    - Sub processors embedded into key systems like hands accelerometers etc.
    - Great example of the reactive layer is the Song QRIO

  • Q.R.I.O. (Quest for Curiosity)
    Built Jan 2006, as a replacement to the popular AIBO
    Can detect being off balance and moves arms to compensate, protecting the body when it falls
    So lets talk about hardware, first walking
  • Biggest thing the robot has to do
    Lives in our world needs to interaction, walk up stairs open doors etc.
    Walking quite a simple problem, but difficult to solve
    Attempt to mimic the human gait
  • Mathematical formula, predicting, foots intersection with the floor and resultant force required
    Guarantee the stability of the robot while it remains in the polygon of support
    However knees are require to be bent to avoid singularity in knee joint
    Therefore uses 4 times the amount of power
    ASMIO great example, 3 joints per leg, 6 DOF

  • Interact in a human environment, dexterous
    Arms - Need high DOF to reach out and twist
    Hand - miniature servos, feedback wrists
    Feet - Provide feedback, bigger they are the more stable the robot is
  • Implement 2 CMOS cameras into the head
    Provides Stereoscopic vision, and by turning head we can build up a 3D map of environment
    With 3D environment we can use path planning to navigate
    Image recognition
    2 microphones either side of the head, localisation

  • How to build a humoid robot

    1. 1. HOW TO BUILD A HUMANOID ROBOT Daniel Saxil-Nielsen @dtsn
    2. 2. WHERE THE HELL IS THE ROBOT I WAS PROMISED .... Daniel Saxil-Nielsen @dtsn
    3. 3. 1495 Daniel Saxil-Nielsen @dtsn
    4. 4. Daniel Saxil-Nielsen @dtsn
    5. 5. Hardware Daniel Saxil-Nielsen @dtsn
    6. 6. Software Hardware Daniel Saxil-Nielsen @dtsn
    7. 7. SUBSUMPTION Daniel Saxil-Nielsen @dtsn
    8. 8. SUBSUMPTION Decision Daniel Saxil-Nielsen @dtsn
    9. 9. SUBSUMPTION Decision Build Maps Explore Avoid Task Planning Daniel Saxil-Nielsen @dtsn
    10. 10. SUBSUMPTION Reactive Decision Build Maps Explore Avoid Task Planning Daniel Saxil-Nielsen @dtsn
    11. 11. SONY QRIO January 2006 Protects body as it falls Daniel Saxil-Nielsen @dtsn
    12. 12. WALKING Daniel Saxil-Nielsen @dtsn
    13. 13. WALKING Daniel Saxil-Nielsen @dtsn
    14. 14. ZMP Zero-Moment Point Predicts foots intersection with the floor ∞ Knees must stay bent Daniel Saxil-Nielsen @dtsn
    15. 15. ARMS, HANDS & FEET Kinaesthetic Wrists Miniature Servo Motors Daniel Saxil-Nielsen @dtsn
    16. 16. SOUND & VISION Stereoscopic, detect distance Rotation of head 3D map of surrounding Daniel Saxil-Nielsen @dtsn
    17. 17. ONWARDS & UPWARDS Daniel Saxil-Nielsen @dtsn

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