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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 ... - tailieumienphi.vn
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