humanoid robot presented by: k. ramya krishna. defnitions system structure sensors and actuators ...
TRANSCRIPT
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HUMANOID ROBOT
Presented by: k. Ramya krishna
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DEFNITIONSSYSTEM STRUCTURESENSORS AND ACTUATORSAPPLICATIONSADVANTAGESDISADVANTAGES
OVERVIEW
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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
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• 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
WHAT IS A HUMANOID ROBOT
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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
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Contributions
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System Architecture
System Overview Client/Server Structure Four Communication Modes
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Architecture - Specification Standard
Configuration Spec
Command Spec
Communication Spec
Abstraction
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Architecture - System Overview
Client/Server
...
Client
Client
Server
Asimo Library
Pioneer Library
Simulator
QuickTime™ and aTIFF (Uncompressed) decompressor
are needed to see this picture.
QuickTime™ and aTIFF (Uncompressed) decompressor
are needed to see this picture.
Configuration Spec
Command Spec
Communication Spec
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Architecture - Robotalk Server
Server Daemon
Robot Daemon
Read and Write TCP/IP sockets
Issue Robot Driver Calls
CClientConnection
CClientConnection
Provide: Buffering, Scheduling, Panic, etc.
Class Interface
.
..
CRobotDriver
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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
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Direct Mode
Client Server Sync system clock
Clock
Command Cache
RobotDaemon
Client
Function call
Cache Return Cachereturn
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Delay Mode
Client Server Sync system clock
RobotDaemon
Client
Cache
Function call
return
Delay
Command Cache
Clock +
Return Cache
error signal
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Playback Mode
Client
Cache
Function call
return
Return Cache
error signal
Clock
Playback Cache
Command Cache
Delay
RobotDaemon
Client Server
Length of the sequence
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Broadcast Mode
Client
Cache
Broadcast
call
return
Command Cache
RobotDaemon
Return Cachedata
Delay
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sensors
A sensor is a device that measures some attributeTwo types of physical processes Proprioceptive sensors:sense the position, the orientation and speed of body and jointsExteroceptive sensors: like vision sensors(ccd), sound sensors(microphone)Actuators: motors responsible for motionPiezoelectric actuators: for small movements when voltage is applied
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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.
APPLICATIONS
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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)
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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
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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.
ADVANTAGES
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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.
DISADVANTAGES
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THANK YOU