Chun-Lung Lim

1
Robot Control

• By
• Chun-Lung Lim
• Jay Hatcher
• Clay Harris

2
Humanoid Robotic Hardware

• Biped Humanoid Robot Group - Kato/Takanishi
  Laboratory Waseda University
• WABIAN-2 - (WAseda BIpedal humANiod-No.2)
• Artificial Muscle Begins to Breathe
• Sensor Networks for Humanoids (Repliee Q2)

3
WL-1 (Waseda Leg Series)

• The artificial lower-limb WL-1 was constructed on
  the basis of a humans leg mechanism in 1967
• Investigation of the fundamental functions of
  biped locomotion

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WL-3

• Constructed with electro-hydraulic servo-actuator
  in 1969
• Achieved a human-like motion in a swing phase and
  a stance phase, and a standing and sitting motion

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WL-5

• Eleven mechanical degrees of freedom two x five
  DOF legs and one DOF trunk
• could change the direction by using a program
  control (1971)

6
WABOT-1

• the worlds first full-scale anthropomorphic
  robot
• Could communicate with a human in Japanese
• Measure the distances and directions of objects
  using external receptors such as artificial ears
  and eyes
• Hydraulically powered, it uses disproportionately
  large feet for stability
• realized static walking in 1973

7
WL-9DR

• achieved quasi-dynamic walking
• used a 16-bit microcomputer as its controller
• ten mechanical degrees of freedom

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WL-10R

• constructed by the rotary type servo-actuators
  and carbon-fiber reinforced plastic in 1983
• achieved forward and backward walking, turning on
  the plane

9
WL-10RD

• achieved a complete dynamic walking on the plane
  with the step time of 1.3 s/step
• dynamic walking on uneven terrain such stairs and
  inclined planes was realized with a step time of
  2.5 s/step

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WL-12

• hydraulic biped having an upper body and a
  two-degrees-of-freedom waist (1986)
• dynamic biped walking was realized under external
  forces of unknown environments and on unknown
  walking surfaces

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WL-12RDIII

• walked in unknown paths, and stairs in a human
  residential environment
• Also used trunk motion for balance and for
  compensating moment generated by leg movement

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WABIAN (WAseda BIpedal humANoid)

• Dynamic forward and backward walking
• Collaborative work with humans
• Dancing
• Carrying a Load
• Emotional Walking
• Total of 35 DOF

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WABIAN-2

• Total of 41 DOF
• Height 153 cm
• Weight
• 64.5 kg w/Ni-H batteries
• 60.0 kg without
• 6-axis Force Sensors
• Photo Sensor
• DC Servo Motors
• On Board Computer

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WABIAN-2 Control System
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Human Like Walking with 6 vs. 7 DOF
WABIAN
WABIAN-2
In case of conventional leg mechanism (6-DOF),
predetermination of foot's position and
orientation will decide each joint angle.
However, humans have the ability to move their
knees even if the position and orientation of
foot are predetermined due to the redundant DOF.
Therefore, by having a 7-DOF robotic leg instead
of 6-DOF robotic leg, the robot will have the
same ability as humans to walk smoothly.
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Waist Movement

• 2-DOF (Roll, Yaw) in the waist enables more
  human-like walking motions. This new mechanism
  has an advantage which allows the robot to walk
  with knee stretched position due to the
  independent orientation of trunk movement.

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Movement Examples

• Moving knees with feet on the floor
• Upper body movement
• Moving arms and legs with feet and hands fixed
• Conventional walking
• Stretch walking
• Walking assisted

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Artificial Muscle Begins to Breathe
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(No Transcript)
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Continuously shorted fuel-cell muscle based on a
NiTi shape-memory alloy
Published by AAAS
V. H. Ebron et al., Science 311, 1580 -1583
(2006)
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Main Advantages

• highenergy-density fuels (hydrogen, methanol, or
  formic acid) may be used resulting in much longer
  operating times
• Hondas humanoid, ASIMO, only lasts 45 minutes on
  its batteries
• WABIAN 2 only lasts around 30 minutes
• Lightweight compared to Servo Motors and
  Batteries

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Omnidirectional Sensor
The panoramic cylinder is a periodic function
along the x-axis
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Image based localization based on omnidirectional
images
Power Spectrum of the image at right
Associate the magnitude of the Fourier transform
with the appearance of the environment from a
particular place
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Directional Determination with Omnidirectional
Images

• The phase of the Fourier transform is associated
  to the heading of the robot
• Magnitude of the Fourier transform does not
  change when the robot is turning and the
  appearance doesnt change
• The phase of the Fourier transform changes and is
  proportional to the change in the heading of the
  robot

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Sensor Network for Robots
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Conclusions

• Significant advances in technology has enabled
  lifelike humanoids (Repliee Q2)
• Coming advances will result in frequent
  encounters with humanoids
• Humanoid development will help in the
  construction of better prosthetics and
  rehabilitation techniques
• Improved robotic suits lead to supermen!