1. Building Humanoid Robots Our quest to create intelligent machines Aaron Edsinger MIT Computer Science and Artificial Intelligence Laboratory Humanoid Robotics Group edsinger@csail.mit.edu http://csail.mit.edu/~edsinger

2. Robots!

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

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

5. Building Robots Life as a Robot Artist

6. Building Robots Life as a Robot Artist

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

8. DOMO

9. Building Robots DOMO

10. Building Robots DOMO

11. Building Robots DOMO

12. Building Robots DOMO

13. Making Robots Smart

14. Robots That Can Work Alongside Humans

15. Robots That Entertain

16. WE CAN BUILD YOU Extreme Humanlike Robots

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

18. Process

19. Albert Hubo and KAIST

21. 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

22. Cog

23. Kismet

24. 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

25. Behavior Based Architecture

26. Series Elastic and Force Sensing Compliant Actuators F=-kx

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

28. Passive and Active Compliance Series Elastic Actuator Force based grasping

29. Understanding Human Intelligence