Humanoid Robotics

A Social

Interaction
reprogrammable

self - contained

multifunctional

movable

mechanical

artificial agent

By Devangi Patel
CS 575 ::: Spring 2007
Guided By Prof. Baparao

Humanoid Robotics
A humanoid robot is an autonomous robot
because it can adapt to changes in its environment or
itself and continue to reach its goal. This is the main
difference between humanoids and other kinds of
robots, like industrial robots which are used to
performing tasks in highly structured environments.
Humanoid robots may contain human body
parts like legs, arms, face with eyes & mouth. Androids
are humanoid robots built to resemble a male human,
and Gynoids are humanoid robots built to resemble a
human female.

Sony has developed small

but remarkable robots that
can dance and sing for
entertainment purposes.

Robonaut works with creator,

Robert Ambrose, Ph.D., MIT, to
make a weld.

Capabilities of Humanoid
Robots

Self maintenance (recharge itself)

Autonomous learning (learn or gain new capabilities

without outside assistance, adjust strategies based on
the surroundings and adapt to new situations)

Avoiding harmful situations to people, property and itself

Safe interacting with human beings and the environment

Purpose

A research tool

To build better orthosis and prosthesis for human beings

To perform human tasks like personal assistance

For providing entertainment

Components

Sensors
Actuators
Planning & Control

Sensors

Proprioceptive Sensors :
Proprioceptive sensors sense the position, the orientation
and the speed of the humanoids body and joints.
-

Accelerometer sensors
Tilt sensors
Force sensors
Position sensors
Speed sensors

Sensors contd.

Exteroceptive Sensors :
Exteroceptive sensors give the robot
information about the surrounding environment, which is
the real world in case of humanoid robots. That
information allows the robot to interact with the world.
-

Proximity sensors
Tactile sensors
Vision sensors
Sound sensors

Actuators

Electric actuators
Hydraulic actuators
Piezoelectric actuators
Ultrasonic actuators
Pneumatic actuators

Cog Robot Human

Interaction

Cog has a set of sensors and actuators that tries to

approximate the sensory and motor dynamics of a
human body.

Equipped with a sophisticated visual system capable of

saccades, smooth pursuit, vergence, and coordinating
head and eyes through model of the human.

Responds not only to visual stimulation, but also to

sounds and to the ways people move Cog's body parts.

Can learn a diverse array of behaviors including

everything from playing with a slinky to using a hammer.

The newest version of Cog, developed at MIT AI laboratory.

WENDY A Human Symbolic

Robot

Consists of two anthropomorphic arms, a head and torso & it

has wheels instead of legs.

Designed to work with humans, often in the same working

space, carrying out physical, informational and psychological
interaction with humans.

The joints are equipped with force sensors that detect

collision.

Robust, dexterous handling is accomplished using a mechanism for pressure adjustment based on human fingertips.

The robot hand can accomplish a number of real tasks such

as chopping vegetables and grasping very small coins.

Wendy S. Sugano Laboratory Waseda University

Handaly II Robot

Designed by Waseda University for the purpose of

interactive communication with humans

It has an environmental recognition system that uses

vision and voice recognition to remain aware of the
presence and actions of people around it.

Uses a compliant motion system and can achieve

mobility using electric wheels

Uses these capabilities to communicate with humans not

only informationally, but also physically.

Hadaly - 2 Humanoid Project Waseda University.

6 feet tall and weighs over 600 pounds

Thank You