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Robots!

Building Humanoid Robots Our quest to create intelligent machines Aaron Edsinger MIT Computer Science and Artificial Intelligence Laboratory Humanoid Robotics Group edsinger@csail.mit.edu http://csail.mit.edu/~edsinger. Robots!. MIT Humanoid Robotics Group. Making Robots Smart. Building Robots.

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Robots!

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  1. Building Humanoid RobotsOur quest to create intelligent machinesAaron EdsingerMIT Computer Science and Artificial Intelligence LaboratoryHumanoid Robotics Groupedsinger@csail.mit.eduhttp://csail.mit.edu/~edsinger

  2. Robots!

  3. MITHumanoid Robotics Group Making Robots Smart Building Robots Understanding Human Intelligence

  4. Stanford University Building Robots Childhood Inventor Early Experiences 1982 Hovercraft 1992 Solar Car

  5. Building Robots Life as a Robot Artist

  6. Building Robots Life as a Robot Artist

  7. DOMO Building Robots CARDEA COG KISMET Life as a Robot Researcher, MIT

  8. Building Robots DOMO

  9. Building Robots DOMO

  10. Building Robots DOMO

  11. Building Robots DOMO

  12. Building Robots DOMO

  13. Making Robots Smart

  14. Robots That Can Work Alongside Humans

  15. Robots That Entertain

  16. Extreme Humanlike Robots WE CAN BUILD YOU

  17. “Albert Hubo” by Hanson, ARRI, KAIST world’s first facial expressions on a walking humanoid Hanson Robotics Inc“humanizing technologies””

  18. Process Hanson Robotics Inc“humanizing technologies””

  19. Albert Hubo and KAIST

  20. 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 • Speech, • Natural language, • Vision: face, gesture, objects • Cognitive Architectures • Theory of Mind • Dynamic Modeling • Physical Interaction with the world: • Bipedal locomotion, Manipulation • Navigation, mapping • Expressive hardware, mfg process • Adoption of the Humanlike form • We are naturally attracted to faces and gestures • Much more sensitive to Human Faces and gestures

  21. Cog

  22. Kismet

  23. 29 active degrees of freedom (DOF) • Two 6 DOF force controlled arms using Series Elastic Actuators • 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 on-board • 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" Domo

  24. Behavior Based Architecture

  25. Series Elastic and Force Sensing Compliant Actuators F=-kx

  26. Series Elastic and Force Sensing Compliant Actuators • Mechanically simple • Improved stability • Shock tolerance • Highly backdrivable • Low-grade components • Low impedance at high frequencies

  27. Passive and Active Compliance Series Elastic Actuator Force based grasping

  28. Understanding Human Intelligence

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