Evolution of Biomorph Machines (??????)

1
Evolution of Biomorph Machines(??????)

• ?? ??

?? ???
?????? ?? STUDENT
Kuo-Shih Tseng
ADVISORWEI FANG
Date2004-10-15 Lab. of Bio-Environmental Control
and Systems Analysis Dept. Bio-Industrial
Mechatronics Eng. National Taiwan University
Version 3.0
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Outline

• ??(Definition)
• ???(Pioneers)
• ??(spirit)
• ??(History)
• ????(Biomorph Machines)
• ??,??,??,??
• (Walking, under water ,flying, humanoid)
• ????
• ????(multiple mobile robots)
• ??(GAME)
• ROBOCUP
• ROBO-ONE
• ???????????(If)
• ????(Reference)

3
??(Definition)

• ??? ?????????

?? ??
yahoo?? ? ?? , ?????
????? ????? ?????
4
??(Definition)

• ??????
• ????? ???????????????
• ???? ?????? ? AVI
• ??????????,??????

?? ?? ??
?
????
??
????
????
??
?
????
?
???
5
??(Definition)

• ????????????????
• ?????????

???
? ?
? ?
??
?????????? ?????????
6
???(Pioneers) VS .

• Shigeo Hirose(????) Brooks Rodeny
• Research Since 1970.
  Research Since 1980
• TITech HYR Lab. MIT AI
  Lab.
• Engineer ?????
• 
  iRobot co.
• ??
  ??
• http//mozu.mes.titech.ac.jp/ http//www.ai.mit.e
  du/
• Useful Biomorph Machines humanoid
  Robots

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???(Pioneers)????????????

• ?????????????????????.
• SARCOS??????????.
• ????????????????????????
  ????
• ????1???2???3
• ??1???2? ??3? ??4
• http//www.sarcos.com/highperf_videos.html

Steven Jacobsen
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??(spirit)

• ???(Evolution) --
  Brooks Rodney
• ????(Superior creature) -- Robert
  Full(????)
• ???(Machine soup) -- Von
  Neumann(???)
• ????(Living restrict)
  
  --Biological Clock ,Air,Water.etc.

? ? ?
? ? ?
? ?? ??? ? ?? ? ? ?
?
? ? ?
?
? ? ?
? ? ?
(????????)
9
??(History)??

• ??????
• ?????? Ex ??
• ?????? Ex ??
• ?????? Ex ?? ????
• ?????? Ex ????

Source ???????, Rodney A.. Brooks ,2002,????
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??(History)??

• Beginning from failures of humanoid Robots
• 1970 Shigeo Hirose begin to research!!
• 1980 Brooks Rodeny begin to research!!
• 1992 Stiquito BEAM --kits
• 1997 RoboCup At Nagoya (???)
• 2002 Robo-one
• 2004 Now!
• Future? Robots will be around us!!!!!!!!
• ? We are biorobots!!!!!
• ? Or ?????

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????

• Walking Biomorph MachinesU.C.BERKELEY?TITech?McGi
  ll University .etc.
• Underwater Biomorph MachinesMIT
• Flying Biomorph MachinesGeorgia Tech Research
  Institute
• Humanoid Biomorph MachinesMIT,HONDASONY
• multiple mobile robotsCaltech CORO
• RoboCupThe Globe
• Robo-One?,?

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????(Biomorph Machines)

• ??(Walking)
• ??(under water )
• ??(flying)
• ??(humanoid)
• ?????????

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??????
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Walking Biomorph Machines
http//rjf2.biol.berkeley.edu/
Martin Buehler (McGill University )
?
? ?
RHEX
iRobot
Robert Full
?
Ariel

Mark Cutkosky (Stanford University )

?
Spraw
SDM (Shape Deposition Manufacturing )
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RHEX
Martin Buehler McGill University http//www.cim.m
cgill.ca/

• Sensor (??!!)
• Power supply12V X2
• Cost10000
• Dynamic ??????
• PurposeWalking
• Avi 1 2 3 4 5 6 7

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Souryu I TITAN III, IV
Snake-like Robots Walking Robot
?
Shigeo Hirose
Mark Tilden (Los Alamos National
Laboratory) (Solarobotics)
BEAM Stiquito
?
?
James M. Conrad (Research Triangle Park
) Jonathan W. Mills (Indiana University)
?
?
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TITAN-VIII
(Roller-Walker)
Shigeo Hirose TITech http//mozu.mes.titech.ac.jp/
hirohome.html

• SensorPotentiometer for each joint
• Power Supply DC 30 to 48v (for motors)
  DC 5v, -15v (for drivers)
• Cost 24years , 40persons
• Dynamic TITechDriver Ver. 2
• Purpose Rescue(VII) ,Load(VIII)
• Avi move

Rocker Bogie Sole
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NINJA
Shigeo Hirose TITech http//mozu.mes.titech.ac.jp/
hirohome.html
DynamicA VM (Valve-regulated Multiple) suction
pad Purpose????!! ????????!! Avi 1
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???????
Shigeo Hirose TITech http//mozu.mes.titech.ac
.jp/hirohome.html

• Sensor (CCD x2Microphone)
• Power SupplyDC12V Battery
• Dynamic Motor 72W x117W x2
• Purpose Saviour
• Avi 2D?3D?XD

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Troody

• AVI 1 2

Dilworth MIT
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Biology, Electronics,Aesthetics, Mechanics
????? Spyder VBug 1.0
Mark Tilden (Los Alamos
National Laboratory) (Solarobotics) http//www.nis
.lanl.gov/projects/robot/ http//www.solarbotics.c
om/

• Sensor44Hz??????
• Power Supply 4.8V batteries
• Cost cheap!! (solar cell motor transistors
  capacitor)
• DynamicMotor
• Purpose Neural Nets
• Avi 1?2

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Stiquito

• Power Supply9V battery
• Cost10
• Dynamic Nitinol Wires(????)
• Purpose Muscle wire
• Avi 1?2

James M. Conrad (Research Triangle Park
) Jonathan W. Mills (Indiana University) http//ww
w.cs.indiana.edu/robotics/colony.html
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??????
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Underwater--Wanda
John Kumph iRobot
http//robosapiens.mit.edu/wanda.htm

• Power SupplyNiCd Batteries17 V
• Dynamic
• Purpose Swimming

Ariel

• Sensor Motor position, foot contact, pressure
  (underwater), flow (underwater), compass,
  inclinometer, metal detectors
• Power Supply22 NiCd cells
• Cost50000(materials only)
• Dynamic
• Purposemine sweeping

iRobot http//robosapiens.mit.edu/ariel.htm
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??????
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Flying--Entomopter
Robert Michelson Georgia Institute of Technology

• Power Supply Uncertain
• Dynamic Reciprocating Chemical Muscle (RCM)
• Purpose Flying , ????!!
• Avi

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??????
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Humanoid--Cog
http//www.ai.mit.edu/projects/humanoid-robotics-g
roup/cog/cog.html
Brooks Rodeny MIT AI Lab.

• Sensor?????X4,Microphone X2,??????,?????,?????(??
  ),????,???(??),???????..etc.
• Power Supply?? 12V, 24V ,5V
• Purpose??????,?????????
  ???????
• Avi 1 2 3

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TMSUK04 T5
?????????
http//www.tmsuk.co.jp/jap/index.html
T5 2000???
1993?1??? 1996?1??? 1997??? TMSUK04
1999???
?? ??
?????(???????????)
TMSUK04-2
??!!
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SDR-4X(Sony Dream Robot)
1996???? ?? ?????!!
1994 P1
ASIMO SDR
2000P3
1997 P2



http//www.watch.impress.co.jp/pc/docs/2002/0320/s
ony.htm
PS Prototype ?? ASIMO short for Advanced Step
in Innovative Mobility
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Z Gundam

• ? 7 m (23 ft)
• ? 3.5 m (11.5 ft)
• ?? 2 ?
• ???? ??????
• ?? 7 ?(????????)
• ?? 1 ?

????
??
???
????
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?????????????

• vs.

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?????????

• Roller-Walker
• AVI 1 2

Shigeo Hirose TITech
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?????????

• SMC-Rover
• AVI 1 2 3 4

Shigeo Hirose TITech
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?????????

• YANBO III
• AVI 1 2 3 4 TITRUS 1 2

Shigeo Hirose TITech

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?????????

• CONRO
• AVI 1 2 3 4

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?????????

• MTRAN II
• AVI1 2 3 4 5

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????

• ???
  BIME
• ?????
  BIME
• ?????
  BIME
• ???????? BIME

39
?????????

• 301 ???
• ??
• ??U? , O?
• ????
• AVI U,O

???
???
40
?????????

• 303 ???
• ???NT20000
• ????,????
• ??????????
• AVI 1 2

???
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?????????(1)

• Rocker
• ???NT700
• ????
• S_J
• ???NT2000
• ????,??,???

???
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?????????(2)

• NTU-SIMONE
• ???NT35000
• ???5??
• ??0.6x0.6x0.6(m)
• ??????

???
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????????????

• ??2003? ?????????
• ?????? ????2003 12/132004 10/9
• ??????92?20?
• ?? NT700/?
• ????BEAM??????
• ??????? ??,??

?????
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????(multiple mobile robots)
http//www.coro.caltech.edu/
Traffic Flocking Track Odor Building
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??(GAME)RoboCup
http//www.robocup2002.org/

• Simulation league
• Small-size robot league (f-180)
• Middle-size robot league (f-2000)
• Four-legged robot league
• Humanoid league

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RoboCup 2001
1. Tsinghuaeolus, P.R. China2. Brainstormers01,
Germany3. FCPortugal2001, Portugal

• Soccer Simulation League
• Small-Size Robot League
• Middle-Size Robot League
• Sony Legged Robot League

1. Lucky Star II , Singapore(???)2. Field
Rangers, Singapore3. Cornell Big Red, USA
1. CS Freiburg, Germany2. Trackies, Japan3.
Eigen, Japan
1. UNSW United01, University of New South Wales,
Australia(????)2. CM-Pack'01, Carnegie Mellon
University, USA3. UPennalizers'01, University of
Pennsylvania, USA
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??(GAME) RoboCup
- By the year 2050, develop a team of fully
autonomous humanoid robots that can win against
the human world soccer champion team. -
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??(GAME)ROBO-ONE

• ????????
• ????????? ????10? ????

Metallic-Fighter VS
MAZINGE.
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???????????(If)

• ??????????????
• ?????? ??,??,????.
• ????????,???,???,???,??etc.
• ??????????? ??,????
• ???????.

• ?????_at__at_ ????

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???????????(If)

• If I want to learn.
• ????
• ???,?
• ????
• ASIMO,SDR
• ??,?????,???

• BIME.
• BIME.
• ?????.
• ??????.
• ?????!!

???? ??????,?????,??/?,??. Ex?????????????,????!
?????????????A????
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???????????(If)

• ???? ?? ?? ??
• ???? ??
• ?????? ?? ?? ??
• ??? ???????
• ??? ????????
• ??? ???????

52
???????????(If)

• ????

• NTU-BIME 70ME10EE10ICE

53
???????????(If)

• ????

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???????????(If)

• Goal
• 
  ????,????
• Weak me!

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????(Reference)

• ???????, Rodney A.. Brooks ,2002,????
• ?????? ,Peter Menzel, Faith Aluisio,????
  2002,?????)
• Web Links
• http//robosapiens.mit.edu/links_01.htm
• http//robosapiens.mit.edu/links_02.htm
• http//robosapiens.mit.edu/links_03.htm
• http//robosapiens.mit.edu/links_04.htm
• http//robosapiens.mit.edu/links_05.htm
• http//robosapiens.mit.edu/links_06.htm