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HumanoidRobots:ASIMO
Zubayer Al Billal Khan
Embedded system Engineer
zubayer007@gmail.com
www.zubayer.name
Outline
 What is a robot?
 History of robots
 OurTimes
 Why Humanoid Robots?
 ASIMO
 RecognitionTechnology in ASIMO
...
WhatisRobot??
 “A reprogrammable, multifunctional
manipulator designed to move
material, parts, tools, or specialized
dev...
History
 Early Stages
 The notion of putting machines
to work can be credited to great
thinkers like Aristotle.
 Westin...
History(cont.)
 1968…’Shakey’ build at
Stanford Research Institute.
 Shakey could perform tasks
that required planning,
...
Our Times
 In 1997 the P1 robot was
produced by Honda which
was more human like.
 Capabilities:-
 Walk around
 Climb s...
OurTimes(cont.)
 In 2000 Honda
incorporated the P3
technology into its
dancing robot ASIMO.
7/24/2017Robotics 7
WhyHumanoids??
 Are there any good reasons for doing
research on humanoid robots?
 Work in dangerous environments
 Exha...
WhyHumanoids??
 Anthropomorphism
 Humans have built complex
environments, tools and equipment's
very much adapted to our...
WhyHumanoids??
 Embodiment
 The form of our bodies is critical to
the representations that we
develop and use for both o...
WhyHumanoids??
 Important aspects of being human are
interaction and communication with other
humans.
 Humanoids can com...
WhoisASIMO?
 ASIMO is a humanoid robot
created in 2000 by Honda.
 ASIMO stands for
 Advanced Step in Innovative
Mobilit...
Specifications
Weight: 52 kilograms
Running Speed: 6 km/h
Walking speed: 2.7 km/h
Walking speed while carrying objects:
1....
WhywasASIMOcreated?
7/24/2017Robotics 14
WhywasASIMOcreated?
7/24/2017Robotics 15
WhyLegsforHumanoids?
 Potentially less weight
 Better handling of rough terrains
 Only about a half of the world’s land...
WhyBipeds?
 Why 2 legs? 4 or 6 legs give more stability, don’t they?
 A biped robot body can be made shorter along the w...
Walkingvs.Running
 Motion of a legged system is called walking if in all instances
at least one leg is supporting the bod...
Honda’sDynamicStabilityController
 Keep foot flat on the ground (fully
actuated)
 Estimate danger of foot roll by measur...
Walking-furtherchallenges
 Can’t compete with humans in terms of:
– Speed (0.44 m/s top speed)
– Efficiency (uses roughly...
ASIMO can be controlled by four methods:
PC
Wireless controller (sort of like a joystick)
 Gestures
Voice commands
7/2...
RecognitionTechnology
 With 2000's ASIMO model Honda added many
features, labeled "IntelligenceTechnology", that
enable A...
Recognitionofmovingobjects
 ASIMO can detect movement of multiple
objects, assessing distance and direction
using the vis...
Recognitionofposturesandgestures
 Positioning and movement of a hand,
recognizing postures and gestures.
 Can react and ...
Environmentrecognition
 ASIMO can recognize the objects and
terrain of his environment and act in a way
that is safe for ...
Distinguishingsounds
 ASIMO can distinguish between voices and
other sounds.
 He can respond to his name, face people
wh...
Facialrecognition
 ASIMO has the ability to
recognize faces, even when
ASIMO or the human being is
moving.
 It can indiv...
Conclusion
 Robots are taking over tasks which are deemed dull, dirty
and dangerous
 The idea of robots with greater int...
References
1. http://asimo.honda.com/asimo_specifications.html
2. http://world.honda.com/ASIMO/video/2002/tech-
recog-mov-...
Thank you!!
7/24/2017Robotics 30
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Asimo

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Asimo

  1. 1. HumanoidRobots:ASIMO Zubayer Al Billal Khan Embedded system Engineer zubayer007@gmail.com www.zubayer.name
  2. 2. Outline  What is a robot?  History of robots  OurTimes  Why Humanoid Robots?  ASIMO  RecognitionTechnology in ASIMO  Conclusion  References 7/24/2017Robotics 2
  3. 3. WhatisRobot??  “A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks." - Robot Institute of America, 1979  An Intelligent robot is a mechanical creature which can function autonomously” 7/24/2017Robotics 3
  4. 4. History  Early Stages  The notion of putting machines to work can be credited to great thinkers like Aristotle.  Westinghouse Electric Corp. creates two of the first robots that use the electric motor for entire body motion. 7/24/2017Robotics 4
  5. 5. History(cont.)  1968…’Shakey’ build at Stanford Research Institute.  Shakey could perform tasks that required planning, route-finding, and the rearranging of simple objects. 7/24/2017Robotics 5
  6. 6. Our Times  In 1997 the P1 robot was produced by Honda which was more human like.  Capabilities:-  Walk around  Climb stairs  Carry things  Pick things up  Push things  Position it self accurately 7/24/2017Robotics 6
  7. 7. OurTimes(cont.)  In 2000 Honda incorporated the P3 technology into its dancing robot ASIMO. 7/24/2017Robotics 7
  8. 8. WhyHumanoids??  Are there any good reasons for doing research on humanoid robots?  Work in dangerous environments  Exhaustive and repetitive tasks.  Division of labor with humans in cooperative tasks  Anthropomorphism  Embodiment  Interaction and Communication 7/24/2017Robotics 8
  9. 9. WhyHumanoids??  Anthropomorphism  Humans have built complex environments, tools and equipment's very much adapted to our selves.  Robots with human-like morphology and motion capabilities have a greater potential acting in living environments created for humans, than e.g. wheeled robots. 7/24/2017Robotics 9
  10. 10. WhyHumanoids??  Embodiment  The form of our bodies is critical to the representations that we develop and use for both our internal thought and our language.  If we are to build a robot with human like intelligence then it must have a human like body in order to be able to develop similar sorts of representations. 7/24/2017Robotics 10
  11. 11. WhyHumanoids??  Important aspects of being human are interaction and communication with other humans.  Humanoids can communicate in a manner that supports the natural communication modalities of humans. Examples include: facial expression, body posture, gesture, gaze direction, and voice.  If a robot has humanoid form, then it will be both easy and natural for humans to interact with it in a humanlike way. 7/24/2017Robotics 11
  12. 12. WhoisASIMO?  ASIMO is a humanoid robot created in 2000 by Honda.  ASIMO stands for  Advanced Step in Innovative Mobility  11th in line of successive bipedal humanoid model’s by Honda.  It is the 4th man like humanoid robot. 7/24/2017Robotics 12
  13. 13. Specifications Weight: 52 kilograms Running Speed: 6 km/h Walking speed: 2.7 km/h Walking speed while carrying objects: 1.6 km/h Height: 130 cm Width: 45 cm Depth: 44 cm Continuous operating time: 40 min – 1 hr. Degrees of Freedom: 34 7/24/2017Robotics 13
  14. 14. WhywasASIMOcreated? 7/24/2017Robotics 14
  15. 15. WhywasASIMOcreated? 7/24/2017Robotics 15
  16. 16. WhyLegsforHumanoids?  Potentially less weight  Better handling of rough terrains  Only about a half of the world’s land mass is accessible by current man built vehicles  Do less damage to terrains (environmentally conscious)  More energy-efficient  Use of isolated footholds that optimize support and traction (i.e. ladder)  Active suspension  Decouples the path of body from the path of feet  Exploit discrete footholds 7/24/2017Robotics 16
  17. 17. WhyBipeds?  Why 2 legs? 4 or 6 legs give more stability, don’t they?  A biped robot body can be made shorter along the walking direction and can turn around in small areas  Light weight  More efficient due to less number of actuators needed  Everything around us is built to be comfortable for use by human form  Social interaction with robots and our perception  Our instinctive desire to create a replica of ourselves 7/24/2017Robotics 17
  18. 18. Walkingvs.Running  Motion of a legged system is called walking if in all instances at least one leg is supporting the body  If there are instances where no legs are on the ground, it is called running  Walking can be statically or dynamically stable  Running is always dynamically stable  Airborne time for ASIMO 0.08 sec. 7/24/2017Robotics 18
  19. 19. Honda’sDynamicStabilityController  Keep foot flat on the ground (fully actuated)  Estimate danger of foot roll by measuring ground reaction forces  Carefully design desired trajectories via optimization  Keep knees bent (avoid singularity)  Adaptive trajectory tracking control (high feedback gains) 7/24/2017Robotics 19
  20. 20. Walking-furtherchallenges  Can’t compete with humans in terms of: – Speed (0.44 m/s top speed) – Efficiency (uses roughly 20x as much energy per unit weight, per distance moved)  Robustness (Cant perform fast actions as humans)  DC electric motor runs Hot 7/24/2017Robotics 20
  21. 21. ASIMO can be controlled by four methods: PC Wireless controller (sort of like a joystick)  Gestures Voice commands 7/24/2017Robotics 21
  22. 22. RecognitionTechnology  With 2000's ASIMO model Honda added many features, labeled "IntelligenceTechnology", that enable ASIMO to interact better with humans. These features fall under 5 categories: 1. Recognition of moving objects 2. Posture/gesture recognition 3. Environment recognition 4. Sound recognition 5. Face recognition. 7/24/2017Robotics 22
  23. 23. Recognitionofmovingobjects  ASIMO can detect movement of multiple objects, assessing distance and direction using the visual info. captured by the camera.  Featured served by this application are  Follow the movements of people  Follow a person  Yield to pedestrians in its path.  Greet a person when he or she approaches. 7/24/2017Robotics 23
  24. 24. Recognitionofposturesandgestures  Positioning and movement of a hand, recognizing postures and gestures.  Can react and be directed to both voice commands and natural movements of human being.  Recognize when a handshake is offered.  A person waving at it.  Movement directions. 7/24/2017Robotics 24
  25. 25. Environmentrecognition  ASIMO can recognize the objects and terrain of his environment and act in a way that is safe for both himself and nearby humans.  Recognizing potential hazards such as stairs.  Avoid hitting humans and other moving objects. 7/24/2017Robotics 25
  26. 26. Distinguishingsounds  ASIMO can distinguish between voices and other sounds.  He can respond to his name, face people when being spoken to, and recognize sudden, unusual sounds such as that of a falling object or a collision, and face in that direction. 7/24/2017Robotics 26
  27. 27. Facialrecognition  ASIMO has the ability to recognize faces, even when ASIMO or the human being is moving.  It can individually recognize approximately 10 different faces. Once they are registered it can address them by name. 7/24/2017Robotics 27
  28. 28. Conclusion  Robots are taking over tasks which are deemed dull, dirty and dangerous  The idea of robots with greater intelligence than humans is at least 50 years away, and may never come  It's not the robots we need to worry about; it's the people who program them.  Humanoids can be used as workers at Exhaustive task. 7/24/2017Robotics 28
  29. 29. References 1. http://asimo.honda.com/asimo_specifications.html 2. http://world.honda.com/ASIMO/video/2002/tech- recog-mov-obj-1/index.html 3. http://www.popularmechanics.com/technology/engine ering/robots/4264593  Y. Sakagami, R.Watanabe,C.Aoyama, S. Matsunaga, N. Higaki, and K. Fujimura.The intelli-gentAsimo: system overview and integration. In Intelligent Robots and Systems, 2002.  Honda Motor Co. Ltd. "History of the Humanoids: E0 (1986)", Retrieved 2008-07- 01. 7/24/2017Robotics 29
  30. 30. Thank you!! 7/24/2017Robotics 30

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