* KAIST 휴머노이드로봇센터 오준호 교수 * 2015. 9. 18.

1. 2015-09-07
1
Robot Technology and
The Future
카이스트 기계공학과
휴머노이드 로봇 연구센터 센터
오준호 교수
2
ASIMO - Honda

2. 2015-09-07
2
3
Intelligent Robot Application
• Home service robot
• Medical robot
• Military robot
• Robot in hazardous environment
• Entertainment robot
• Rehabilitation robot
4
Big Dog ,2008
USA, Boston Dynamics
Military Robot

3. 2015-09-07
3
5
Military Robot
Vecna Bear
6
HAL, 2007
(Hybrid Assistive Limb)
Japan, CYBERDYNE ltd. ```
Wearable Robot

4. 2015-09-07
4
7
Wearable Robot
8
Wearable Robot

5. 2015-09-07
5
9
Wearable Robot
10
Monkeys control robots
with brain power
Univ. of Pittsburgh
Bio Robots

6. 2015-09-07
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11
Da Vici robot
USA, Intuitive Surgical Inc.
Surgical Robot
12
Increased
computing power
Increased
computing power
Hard real-time
linux system
(xenomai)
Hard real-time
linux system
(xenomai)
Various sensor acceptable
head mechanism
Various sensor acceptable
head mechanism
Stereo vision systemStereo vision system
Smaller motor controller
with torque control algorithm
Smaller motor controller
with torque control algorithm
Powerful 7DOF
arm design
Powerful 7DOF
arm design
End-effector changeable
mechanism
End-effector changeable
mechanism
Power gripperPower gripper
3-axis FT sensor with
increased sensing range
3-axis FT sensor with
increased sensing range
More durable batteryMore durable battery
3-axis IMU3-axis IMU
High friction materialHigh friction material
Powerful knee jointPowerful knee joint
Extended legExtended leg
Protection shell
(duralumin)
Protection shell
(duralumin)
DARPA Robotics Challenge

7. 2015-09-07
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13
• Supervision
– Defense Advanced Research Project Agency – DARPA(미국 방위고등연구기획국)
• Purposes
– To generate groundbreaking research and development so that future robotics
can perform the most hazardous activities in future disaster(like Fukushima
disaster) response operations, in tandem with their human counterparts, in
order to reduce casualties, avoid further destruction, and save lives.
DARPA Robotics Challenge
Chimp
(Carnegie Mellon University)
14
DARPA Robotics Challenge
Atlas
(Boston Dynamics & DARPA)
Robosimian
(NASA)
Walk-Man
(IIT)
Jaxon
(Univ. of Tokyo)
HRP+
(AIST)

8. 2015-09-07
8
15
DARPA Robotics Challenge
DARPA Robotics Challenge

9. 2015-09-07
9
17
DARPA Robotics Challenge
l We have to do more and more….
18
3.1 Balance between Supervisory & Autonomy3.1 Balance between Supervisory & Autonomy
> Supervisory : Where to go and direction
Case - Movement

10. 2015-09-07
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19
> Supervisory : Set Valve ROI range
Case - Task
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Drill recognition Valve recognition Terrain recognition
Vision recognition result

11. 2015-09-07
11
Robot Technology and
the Challenge
Evolution of Robot
Industrial Robot
(1960’s)
• Working in structured
environment
• Pre-scheduled motion
(simple & repeating)
• Machine-Robot interaction
• Simple technology
Intelligent Service Robot
(21 century)
• Working in unstructured
environment
• Autonomous motion
• Human-Robot interaction
• Technology convergence
– RT+BT+NT+etc

12. 2015-09-07
12
Customer's expectation Vs. Technology level
Customer's expectation
Technology level
Technology Level
timeMarket emerging Market explodingTech. Introduced
Customer's expectation Vs. Technology level
Technology Level
time
RT, BT, NT
IT

13. 2015-09-07
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Customer's expectation in various application
time
Technology Level
Medical / special purpose
Entertainment
Welfare / Silver
Limited service
Ultimate service
Present time
Technology
Keywords for future technology application
§ Networks – wireless (Ubiquitous)
§ Intelligence – autonomous
§ Mobility – physical contact
§ Human friendly
§ Coexisting
Robot & Related
Technology

14. 2015-09-07
14
Robot & Robotization
Robot : New device for specific application
Robotization : Embedding robotic function into existing device
• Robotic spacecraft
• Robotic vacuum cleaner
• Robotic automobile
• Robotic refrigerator
- Flexibility
- Intelligence
- Mobility / Manipulation
[Ex]
Intelligent Robots
Perceptio
n
Autonomy Mobility
Cognition
Perception
Action
Cognition
Computational
Intelligence

15. 2015-09-07
15
Dilemmas
•Autonomy
•Mobility
Mobility
Autonomy
Home
Automation
C.G,
Ani
mati
on
Home
Service
Robot
Autom
obile
Toy
Robo
t
Monitorin
g,
ARS
Space
Robot
Surgery
Robot
Indust
rial
Robot
Customized
actuators
& sensors
Industrial actuators
& sensors
Artificial
muscles
& smart sensors
Programming
Navigation
Recognition
& Induction
HRI
HCI
Cybernetics
A.I.
Intelligent Service Robot
Autonomy & Mobility
Rehabi
litatio
n
Military
Robot
Jun Ho Oh, 2008
Games

16. 2015-09-07
16
Thank you J
DARPA Robotics Challenge