Building Humanoid Robots Our quest to create intelligent machines Aaron Edsinger MIT Computer Science and Artificial Intelligence Laboratory Humanoid Robotics.

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Presentation transcript:

Building Humanoid Robots Our quest to create intelligent machines Aaron Edsinger MIT Computer Science and Artificial Intelligence Laboratory Humanoid Robotics Group

Robots!

Building Robots Making Robots Smart Understanding Human Intelligence MIT Humanoid Robotics Group

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

Building Robots Life as a Robot Artist

Building Robots Life as a Robot Artist

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

DOMO

Building Robots DOMO

Building Robots DOMO

Building Robots DOMO

Building Robots DOMO

Making Robots Smart

Robots That Can Work Alongside Humans

Robots That Entertain

WE CAN BUILD YOU Extreme Humanlike Robots

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

Process

Albert Hubo and KAIST

Social Robots, smarter via Integration, Inspired by systems biology, wherein the whole is greater than sum of parts Intelligent Machines are Coming Multimodal data fusion of 1.Speech, 2.Natural language, 3.Vision: face, gesture, objects Cognitive Architectures 1.Theory of Mind 2.Dynamic Modeling Physical Interaction with the world: 1.Bipedal locomotion, Manipulation 2.Navigation, mapping 3.Expressive hardware, mfg process Adoption of the Humanlike form 1.We are naturally attracted to faces and gestures 2.Much more sensitive to Human Faces and gestures

Cog

Kismet

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

Behavior Based Architecture

Series Elastic and Force Sensing Compliant Actuators F=-kx

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

Passive and Active Compliance Series Elastic Actuator Force based grasping

Understanding Human Intelligence