Presented by: k. Ramya krishna HUMANOID ROBOT Presented by: k. Ramya krishna

DEFNITIONS SYSTEM STRUCTURE SENSORS AND ACTUATORS APPLICATIONS OVERVIEW DEFNITIONS SYSTEM STRUCTURE SENSORS AND ACTUATORS APPLICATIONS ADVANTAGES DISADVANTAGES

WHAT IS A ROBOT A robot can be defined as a programmable, self-controlled device consisting of electronic, electrical, or mechanical units operate in precisely structured environments and perform single highly repetitive tasks under preprogrammed control. Robot Types: Mobile Robot, Industrial Robot Service Robot ,Humanoid Robot  

WHAT IS A HUMANOID ROBOT A humanoid robot is a robot with its body shape built to resemble that of the human body A humanoid design might be for functional purposes, such as interacting with human tools and environments, for experimental purposes

Contributions A robot specification standard One command interface Four command modes between client and server: Direct Delay Playback Broadcast Easy-to-change robot driver implementation on the server-end

System Architecture System Overview Client/Server Structure Four Communication Modes

Architecture - Specification Standard Abstraction Configuration Spec Command Spec Communication Spec

Architecture - System Overview Asimo Library Configuration Spec Command Spec Communication Spec Pioneer Library Client . . . Server Client/Server Simulator Client

Architecture - Robotalk Server Server Daemon Provide: Buffering, Scheduling, Panic, etc. Read and Write TCP/IP sockets CClientConnection . . . CClientConnection Issue Robot Driver Calls Class Interface Robot Daemon CRobotDriver

Architecture - Communication Modes Direct mode: blocking & instantaneous, for debug purposes Delay mode: nonblocking, instantaneous or delay Playback mode: nonblocking, adaptive caching based on channel quality Broadcast mode: periodic query feedback

Direct Mode Client Server Sync system clock Clock Command Cache Client Function call Cache Robot Daemon Return Cache return

Delay Mode Client Server Sync system clock Delay Command Cache Clock + Function call return Robot Daemon Return Cache error signal

Playback Mode Client Server Length of the sequence Command Cache Delay Robot Daemon Clock Playback Cache Client Cache Function call return Return Cache error signal

Broadcast Mode Delay Broadcast call Command Cache Client Robot Daemon return Command Cache Robot Daemon Return Cache data

sensors A sensor is a device that measures some attribute Two types of physical processes Proprioceptive sensors:sense the position, the orientation and speed of body and joints Exteroceptive sensors: like vision sensors(ccd), sound sensors(microphone) Actuators: motors responsible for motion Piezoelectric actuators: for small movements when voltage is applied

APPLICATIONS TOPIO, a humanoid robot, played ping pong at Tokyo Nao (robot) is a robot created for companionship. It also competes in the RoboCup soccer championship.

Enon was created to be a personal assistant Enon was created to be a personal assistant. It is self-guiding and has limited speech recognition and synthesis. It can also carry things. Archie:The control system of Archie is based on a hierarchy structure with a central controller. The central controller which entitles an HydraXC50 (Xilinx Virtex 4 FPGA) is designed to run a Real Time Linux (RT-Linux)

In the hall President at the Walt Disney World theme park Florida, America contains robots that created to imitate past and current presidents They are becoming increasingly popular for providing entertainment too Ursula, a female robot, sings, play music, dances, and speaks to her audiences at Universal Studios. Several Disney attractions employ the use of animatrons, robots that look, move, and speak

ADVANTAGES Humanoid robots, especially with artificial intelligence algorithms, could be useful for future dangerous and/or distant space exploration missions, without having the need to turn back around again and return to Earth once the mission is completed.

DISADVANTAGES Plenty of humans already who do not have jobs or good places to live , then why replace with Humanoids Why not keep humanoids, like calculators, merely as useful gadgetry? Robots will become super intelligent and rule this world.

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