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Building Humanoid Robots Our quest to create intelligent machines Aaron Edsinger MIT Computer Science and Artificial Intelligence Laboratory Humanoid Robotics Group [email protected] http://csail.mit.edu/~edsinger Robots! Building Robots MIT Humanoid Robotics Group Making Robots Smart Understanding Human Intelligence Building Robots Early Experiences Stanford University Childhood Inventor 1982 Hovercraft 1992 Solar Car Building Robots Life as a Robot Artist Building Robots Life as a Robot Artist QuickTime™ and a Sorenson Video decompressor are needed to see this picture. Building Robots DOMO COG KISMET Life as a Robot Researcher, MIT CARDEA Building Robots DOMO Building Robots DOMO Building Robots DOMO Building Robots DOMO Building Robots DOMO Making Robots Smart Robots That Can Work Alongside Humans Robots That Entertain Extreme Humanlike Robots WE CAN BUILD YOU “Albert Hubo” by Hanson, ARRI, KAIST Hanson Robotics Inc “humanizing technologies”” world’s first facial expressions on a walking humanoid Process Hanson Robotics Inc “humanizing technologies”” Albert Hubo and KAIST Intelligent Machines are Coming Social Robots, smarter via Integration, Inspired by systems biology, wherein the whole is greater than sum of parts • • • • Multimodal data fusion of 1. Speech, 2. Natural language, 3. Vision: face, gesture, objects Cognitive Architectures 1. Theory of Mind 2. Dynamic Modeling Physical Interaction with the world: 1. Bipedal locomotion, Manipulation 2. Navigation, mapping 3. Expressive hardware, mfg process Adoption of the Humanlike form 1. We are naturally attracted to faces and gestures 2. Much more sensitive to Human Faces and gestures Cog Kismet •29 active degrees of freedom (DOF) •Two 6 DOF force controlled arms using Series Elastic Actuators Domo •Two 6 DOF force controlled hands using SEAs •A 2 DOF force controlled neck using SEAs •Stereo pair of Point Grey Firewire CCD cameras •Stereo Videre STH-DCSG-VAR-C Firewire cameras •Intersense 3 axis gyroscope •Two 4 DOF hands using Force Sensing Compliant (FSC) actuators •Embedded brushless and brushed DC motor drivers •5 Embedded Motorola 56F807 DSPs running a 1khz control loop •4 CANBus channels providing 100hz communication to external computation. •49 potentiometers, 7 encoders, 24 tactile sensors, 12 brushless amplifiers, 17 brushed amplifiers, 12 sensor conditioners embedded onboard •An estimated 500 fabricated mechanical components and 60 electronics PCBs •12 node Debian Linux cluster running a mixture of C/C++/Python and utilizing the Yarp and pysense robot libraries. •Weight: 42lbs. Height: 34" tall. Arm span: 5' 6" Behavior Based Architecture Series Elastic and Force Sensing Compliant Actuators F=-kx Series Elastic and Force Sensing Compliant Actuators •Mechanically simple •Improved stability •Shock tolerance •Highly backdrivable •Low-grade components •Low impedance at high frequencies Passive and Active Compliance Series Elastic Actuator grasping Force based Understanding Human Intelligence
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