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Humanoid Robots
Sven Behnke
Computer Science Institute Albert-Ludwigs-University of Freiburg
Outline
· Motivation
· Humanoid Projects
· RoboCup Humanoid League · Team NimbRo
· Robots – Alpha
– RoboSapien – Kondo
– Toni Sony QRIO · Personal Robots
Need for Humanoid Robots
Automated production
Karlsruhe ARMAR
· 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
Artificial Intelligence Research
· Intelligence needs body (Embodiment) and interaction with environment (Situatedness)
· Since 1997 RoboCup competitions
· Soccer as new AI benchmark,
successor of chessess RoboCup Fungus Eaters
Environment State change Info. accessibility Sensor readings
Control
Static Turn taking Complete Symbolic
Central
Dynamic Real-time Incomplete Signals
Distributed
· Humanoid robots as a tool to understand human intelligence
Some Humanoid Robots
Manufacturer
Size
Weight
Speed
DOF
Leg
Arm
Trunk
Head
Asimo
Honda
130cm
54kg
0.69/0.83m/s
34
6
7+2
1
3
QRIO
Sony
58cm
7kg
0.33m/s
28
6
5+Fingers
-
4
H7
Univ. Tokyo
147cm
58kg
0.5m/s
30
7
7
-
2
HRP-2P
AIST/Kawada
154cm
58kg
0.55m/s
30
6
7
2
2
Silf-H2
K. Ito
25cm
730g
0.1m/s
20
6
3
1
1
Johnnie
TU München
180cm
40kg
0.61m/s
19
6
2
1
2
...
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