Transcript edsinger_humanoids_overview - CSAIL People

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
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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
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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