why humanoid robot

8/6/2019 Why Humanoid Robot

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*Why Humanoid Robots?*

PREPAREDBY

THI.PRASANNA

S.PRITHIVIRAJ


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Outline

MOTIVATIONWHAT IS A HUMANOID?WHY DEVELOP HUMANOID?

CHALLENGES IN HUMANOIDBIPEDISM AND COGNITIONEVOLUTIONMAIN COMPONENTSPLANNING & CONTROL

HUMANOID PROJECTHUMANOID APPLICATIONS


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Motivation

One of the greatest dreams of the

mankindBeing a creator, giving life


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Motivation (contd)

Will robots ever manage to

take over the world?


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Whatisa Humanoid Anyway?

Humanoid refers to any being whose body structureresembles that of a human: head, torso, legs, arms,hands.

But it is also a robot made to resemble a human both inappearance and behavior.

The difference between a robot and android is onlyskin-deep, looks exactly like humans on the outside,but with internal mechanics of humanoid robot.


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Why Develop Humanoids?

More rational reasons

They can work in human environment withouta need to adapt themselves or to change theenvironment

Our environment and our tools are adapted forusWhy adapt all to robots?!

It is easier for a human being to interact with ahuman-like being

Because it is a dream of generations


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Challengesin Humanoids

Bipedal human-like locomotionStable gait Changing model during one/two feet support walking Two legs, two arms, head, torso

Hyper DOF system (>20)Complex kinematics and dynamics Complex real-time control architecture


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BipedismandCognition

Bipedism and cognition has a very closerelationshipIs it possible to have cognition without locomotion?Is it possible to have bipedism without cognition?

HAL 9000 Monkey


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Human Evolution

Bipedism frees

thehandstocreatetoolsandstart cognition


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Human Evolutionvs. Humanoid Evolution


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Humanoid Evolution (contd)

Nowadays, humanoid robot researchers arefocusing on bipedism more than they do incognition

Stable and robust bipedal locomotion is still agood lab example It is mandatory to solve it in order to be able

to implement cognitionWe are in the pre-robotic era compared withthe human evolution


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MAIN COMPONENTS

SENSOR- it measures the attributes ofworld. They are classified in to:

Proprioceptive sensor-to sense theposition, orientation, speed of body &joints.

Exteroceptive sensor-provide informationabout external environment.ACTUATORS-responsible for motion.


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PLANNING &C

ONTROL

It gives the essential difference betweenhumanoid robot & other kind of robots.

The planning & control functionfollows.........


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Bipedal Locomotion

ZMP (Zero MomentPoint) specifies the pointwith respect to whichdynamic reaction force at thecontact of the foot with theground does not produce anymoment, i.e. the point where

total inertia force equals 0(zero).ZMP is the indicator of the

stability of the robot:if it is in the foot shadow stable,

f not unstable. The shadow depends onsingle or double support

phase.


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Activevs. Passive Locomotion

Common humanoid uses all their DOF to performthe movement:Continuous motor consumption (including arms)Continuous motor control and synchronizationExtremely complex real-time controlHow is possible to reduce complexity?Reducing number of active DOF

Using DOF only when it is strictly necessaryUsing energy of previous step to generate the nextThese actions reduce also the consumption


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Passive Dynamic Walking

Human walking strategy:Let their legs swing as they would on their own,Then add a little control and power, yielding a gaitwith inherently low energetic and control demands.

Advantages:In contrast to rigidly joint-controlled robots, walkingrobots based on passive-dynamic principles can havehuman-like efficiency and actuation requirements.

Disadvantages:Movements are mostly in sagital plane and instraight line, being extremely difficult to turn, goback, seat,etc. The motion is mostly symmetrical.


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HUM

ANO

ID PRO

JECT

The Humanoid Project, a project based

in Sweden, has accomplished its initial

objective of producing a full-sizehumanoid robot..'Elvis' was the first

humanoid robot created by Marcus

Tallhamn and Manne Kihlman.Priscillain the humanoid poject in Sweden.


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Humanoid Robot Applications


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Social Aspects : What DO You Prefer

Humanoid as a slave

New electrical appliance?Will they be a new tamagotchi?Will they be adapted to the master?

Back to slavery?

Humanoid as a companionWill they get socially accepted?Will they have social rights?

Who will be responsible for them?Will they be able to acquire some conscience?Will they evolute?


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Thank

you

QUESTIONS????

why humanoid robot

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