Humanoid robot

KHR-I has been developed on the purpose of research about biped walking. It has 21 DOF without hands and head, which has 12 DOF in legs, 1 DOF in torso, and 8 DOF in arms. The objective of KHR-2 (41 DOF) was to develop the humanoid which can walk on the living-floor with human-like appearance and movement. KHR-3 has the purpose that it has more human-like features, movements and human-friendly character. Mechanical design of KHR-3 is presented on this paper. The design concept, lower body design, upper body design and actuator selection of joints are included in this paper. We have developed and published KHR-I and 2 in last three years. KHR3 platform is based on KHR-2. It has 41 degree of freedom (DOF), 125 cm height, and 55 kg weight. The differences from KHR-2 are mechanical stiffness and detailed design of the frame in the mechanical point of view. Stiffness of the frame is increased and detailed design about joints and link frame has been modified or redesigned. We introduced exterior art design concept on KHR-2 in beginning, and the concept has been implemented on KHR-3 in mechanical design stage

In this paper we illustrate the properties and the morphology of a human like neural reflex controller, used to set the stiness and joint positions of an anthropomorphic artificial hand. In particular we explain, by simulations results, its ability to emulate the myotatic human reflex, and its capacity to learn in real time the best control strategy. We also present

Touch (or tactile) sensors are gaining renewed interest as the level of sophistication in the application of minimum invasive surgery and humanoid robots increases. The spatial resolution of current large-area (greater than 1 cm 2 ) tactile sensor lags by more than an order of magnitude compared with the human finger. By using metal and semiconducting nanoparticles, a ∼100-nm-thick, large-area thin-film device is self-assembled such that the change in current density through the film and the electroluminescent light intensity are linearly proportional to the local stress. A stress image is obtained by pressing a copper grid and a United States 1-cent coin on the device and focusing the resulting electroluminescent light directly on the charge-coupled device. Both the lateral and height resolution of texture are comparable to the human finger at similar stress levels of ∼10 kilopascals.

This document explains the process of design, implementation and testing of a camera that reduces the drying time of sausage and pigskin, without affecting the quality of them. For this purpose it was designed and implemented a drying chamber composed of electrical resistors. As a large chamber, which also was designed, hot air circulated by a fan, achieving uniformity in the drying process. An On-Off control is implemented with hysteresis loop of ± 2°C for process automation. Data acquisition was performed using temperature and humidity sensors, sending values to a PLC to perform the control actions. The process variables are entered and displayed in an HMI developed for this purpose. From the test results a reduction of drying time was obtained up to 80% in the sausage and up to 90% in the pigskin. The quality of the products, once applied the automated drying process, did not present any alteration as a result of customer surveys

Keywords: Drying, resistors, automation, hysteresis, HMI.

This paper presents the status and research results of the "Bonten-Maru" humanoid robot project. The main contributions of this project are on CORBA based control of humanoid robot, real time optimal gait generation, control of humanoid robot in a long distance using teleoperation system, operation of humanoid robot in emergency environments, and various humanoid robot motions. In order to verify

This paper describes two humanoid robots developed in the Humanoid Robotics Institute, Waseda University. Hadaly-2 is intended to realize information interaction with humans by integrating environmental recognition with vision, conversation capability (voice recognition, voice synthesis), and gesture behaviors. It also possesses physical interaction functions for direct contact with humans and behaviors that are gentle and safe for humans. WABIAN is a robot with a complete human configuration that is capable of walking on two legs and ...

This paper proposed a novel humanoid robot eye, which is driven by six Pneumatic Artificial Muscles (PAMs) and rotates with 3 Degree of Freedom (DOF). The design of the mechanism and motion type of the robot eye are inspired by that of human eyes. The model of humanoid robot eye is established as a parallel mechanism, and the inverse-kinematic problem of this flexible tendons driving parallel system is solved by the analytical geometry method. As an extension, the simulation result for saccadic movement is presented under three conditions. The design and kinematic analysis of the prototype could be a significant step towards the goal of building an autonomous humanoid robot eye with the movement and especially the visual functions similar to that of human.

Perancangan ini bertujuan untuk menghasilkan Robot
Humanoid yang dapat bersuara dan bergerak
otomatis jika mendeteksi kehadiran manusia. Robot
Humanoid ini dilengkapi dengan sensor PIR (Passive
Infra Red) yang berfungsi sebagai input dan tombol
switch untuk mengaktifkan robot saat pertama kali
dinyalakan. Mikrokontroler yang digunakan adalah
AT89S52 yang berfungsi sebagai media pemproses
berdasarkan input yang masuk dan mengontrol
output, ada dua mikrokontroler yang digunakan yaitu
mikrokontroler master dan slave. Mikrokontroler
master digunakan untuk input sensor dan tombol
serta output suara robot, sedangkan mikrikontroler
slave digunakan untuk menggerakkan motor servo.
Sistem Output dari robot ini adalah berupa suara dan
gerak. Aktuator yang digunakan untuk menggerakkan
robot adalah motor servo Hitec HS-645MG.
Berdasarkan hasil penelitian robot ini didesain
menggunakan sumber tegangan 12 V untuk
mensuplay tegangan ke mikrokontroler dan Mp3
Player dan tegangan 6V digunakan untuk
mensupply motor servo.

At the intersection of social robotics and sex technology, sex robots occupy a unique position within both fields. Sex robots are the only domestic robot where there is a financial incentive to make the robot as life-like as possible, while few other sex devices inspire true scorn and ethical debate. Today's sex robots are rudimentary, they are not nimble, nor can they walk on their own. The “AI personalities" sex robots are outfitted with are akin to smutty versions of the personal assistants found in most smart phones. However, looking twenty, thirty, years down the line, things could shift dramatically for this technology. There is already literature suggesting alternative applications for sex robots, within the fields of healthcare and therapy. Yet there are no clear standards or oversight when it comes to security, privacy, and responsibility within the sex tech industry. In addition, there are campaigns to ban this technology altogether. These factors convene to create an atmosphere of uncertainty surrounding the future of this emerging technology. This paper aims to provide useful insight into a variety of possible outcomes for sex robot technology, by applying the Futures Studies method of scenarios. Four scenarios were created using the Four Archetypes, also known as the Manoa Method, as developed by Jim Dator. These scenarios were informed by primary data collected via interviews and reinforced with existing secondary data from published academic literature.The four scenarios are: Continued Growth - focused on money, growth and capitalism, many job opportunities are created, as are the risks for exploitation; Discipline - a security-minded society and regulatory environment, where sex robots are clinical tools for providing sexual therapies; Collapse - a future where sex robot technology has been globally prohibited, and back-casts events leading up to this ban; Transformation – a community- oriented society open in sexual attitudes, which recognizes the holistic importance of sexual wellbeing over fleeting sexual needs and momentary gratification. Furthermore, a consumer study was done that reveals insight to the needs of potential sex robot owners and disabled users. These scenarios will be useful for manufacturers, policy makers, consumers, researchers, and even those who campaign against sex robots.

Con este trabajo se pretende profundizar en el concepto de robótica educativa para construir una propuesta de innovación para reforzar conocimientos matemáticos previos, aportar otros nuevos y fomentar la motivación y el interés en una clase de 3º de Educación Secundaria Obligatoria.

El objetivo de este trabajo es formar con robótica, es decir, la robótica debe servir como herramienta para el aprendizaje de matemáticas. De esta manera, siguiendo el modelo construccionista, la idea es que el alumnado aprenda construyendo.

Se busca justificar los motivos que hacen que una actividad consistente en el desarrollo de un robot humanoide pueda resultar de especial interés en el campo educativo de las matemáticas para la etapa de segundo ciclo de Educación Secundaria Obligatoria.

Throughout human civilization, dance has been considered to be a means of communication. With advances in Artificial Intelligence (AI) and Robot Technology (RT), it is now possible to create biped humanoid robots that can dance. This manuscript provides an overview of dancing robots that have been developed during the past 24 years. It then introduces several emotional flexible spine humanoid robots developed by the author. As part of the introduction, it presents the world’s first humanoid robot that can exhibit dynamic walk with flexible spine motions. This is followed by a discussion on applications, some development issues and possible future directions of research related to dancing robots.

As the field of robotics is expanding from the fixed environment of a production line to complex human environments, robots are required to perform increasingly human-like manipulation tasks, moving the state-of-the-art in robotics from grasping to advanced in-hand manipulation tasks such as regrasping, rotation and translation. To achieve advanced in-hand manipulation tasks, robotic hands are required to be equipped with distributed tactile sensing that can continuously provide information about the magnitude and direction of forces at all contact points between them and the objects they are interacting with. This paper reviews the state-of-the-art in force and tactile sensing technologies that can be suitable within the specific context of dexterous in-hand manipulation. In previous reviews of tactile sensing for robotic manipulation, the specific functional and technical requirements of dexterous in-hand manipulation, as compared to grasping, are in general not taken into account. This paper provides a review of models describing human hand activity and movements, and a set of functional and technical specifications for in-hand manipulation is defined. The paper proceeds to review the current state-of-the-art tactile sensor solutions that fulfil or can fulfil these criteria. An analytical comparison of the reviewed solutions is presented, and the advantages and disadvantages of different sensing technologies are compared.

Interaction with machines is mediated by human–machine interfaces (HMIs). Brain–machine interfaces (BMIs) are a particular class of HMIs and have so far been studied as a communication means for people who have little or no voluntary control of muscle activity. In this context, low-performing interfaces can be considered as prosthetic applications. On the other hand, for able-bodied users, a BMI would only be practical if conceived as an augmenting interface. In this paper, a method is introduced for pointing out effective ...

Abstrak FSR(Force Sensing Resistance), Sensor ini bekerja berdasarkan tekanan yang terjadi jika robot miring dan data itu akan diolah dan bisa menjadi pedoman untuk membuat robot sepakbola humanoid seimbang. Robot Sepakbola Humanoid adalah sebuah robot berbentuk manusia yang khusus di buat untuk bermain sepakbola layaknya manusia. Robot harus mempunyai sistem keseimbangan agar robot tidak mudah jatuh saat bergerak. Sensor FSR ini akan diletakkan pada kedua kaki Robot. Di setiap kaki terdapat 4 buah sensor yang berfungsi untuk mengukur tekanan pada 4 titik terluar kaki untuk dapat megetahui gaya tekan pada setiap titik sehingga kita dapat menarik resultan gaya dari setiap titik tersebut. Hasil pengolahan dari resultan gaya pada ke 4 titik tersebut akan memunculkan sebuah koordinat titik tumpu pada telapak kaki robot. Jadi saat miring titik tumpu robot akan berpindah. Dari perpindahan titik tumpu ini digunakan sebagai sistem keseimbangan robot. Kata kunci : IMU(Inertial Measurement Unit), FSR(Force Sensing Resistance), Humanoid Soccer Robot, Sistem keseimbangan robot humanoid.