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![Robot & Robotization
Robot : New device for specific application
Robotization : Embedding robotic function into existing device
• Robotic spacecraft
• Robotic vacuum cleaner
• Robotic automobile
• Robotic refrigerator
- Flexibility
- Intelligence
- Mobility / Manipulation
[Ex]](https://image.slidesharecdn.com/2014715-150907021829-lva1-app6892/85/2014-7-15-72-320.jpg)
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[2014년 7월 15일] 로봇
- 1. Prof. Jun Ho Oh Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology Robot Technology
- 2. Asimo, Honda
- 3. Part I Examples of Robot Part II Deign outline of Hubo Part III Technical Challenge for Intelligent Robot Contents
- 4. Intelligent Robot Application • Home service robot • Medical robot • Military robot • Robot in hazardous environment • Entertainment robot • Rehabilitation robot
- 5. Military Robot Big Dog ,2008 USA, Boston Dynamics
- 6. Military Robot Crusher ,2008 Carnegie Mellon Univ.
- 8. Entertainment Robot Chroino , 2004~ Tomotaka Takahashi. developed by Kyoto University's RoboGarage
- 10. Wearable Robot HAL, 2007 (Hybrid Assistive Limb) Japan, CYBERDYNE ltd. ```
- 14. Bio Robots Monkeys control robots with brain power Univ. of Pittsburgh
- 15. Da Vici robot USA, Intuitive Surgical Inc. Surgical Robots
- 16. Capsule type Robots www.vector-survey.com/surveyform.htmLegged Endoscopic Capsule Robots (JHU, USA) Microcapsule for gastrointestinal diagnosis and therapy (KIST, Korea) M2A capsule endoscopy (Given Imaging, Israel) Smart capsule endoscope (Olympus Co., Japan) 16/68
- 18. KHR-1(2002)
- 19. KHR-2(2003)
- 20. Hubo, KAIST
- 21. Hubo (2004)
- 24. Hubo FX-1(2006)
- 25. 25 Humanoid Robot Research Center Department of Mechanical Engineering KAIST 2013. 07. 30 Humanoid Robot and DARPA Robotics Challenge Prof. Junho Oh (Vice President of KAIST)
- 26. 26 Darpa Robotics Challenge • Supervision – Defense Advanced Research Project Agency – DARPA(미국 방위고등연구기획국) • Purposes – To generate groundbreaking research and development so that future robotics can perform the most hazardous activities in future disaster(like Fukushima disaster) response operations, in tandem with their human counterparts, in order to reduce casualties, avoid further destruction, and save lives.
- 27. Darpa Robotics Challenge DRC Schedule and Funding 27 Team KAIST Hubo Team
- 28. Robots in Darpa Robotics Challenge 28 CHIMP, Carnegie Mellon University RObosimian, NASA JPL THOR, Virginia Tech DRC-Hubo, KAIST SCHAFT, Japan TBD, NASA JSC ATLAS, Boston Dynamics TrackA TrackB
- 29. • Drive a utility vehicle at the site • Travel dismounted across rubble. 29 DARPA Robot Challenge
- 30. DARPA Robot Challenge • Open a door and enter a building. 30
- 31. DARPA Robot Challenge• Use a tool to break through a concrete. • Locate and close a valve near a leaking. • Replace a component such as a cooling pump. 31
- 33. DRC Hubo Development 33 Increased computing power Hard real-time linux system (xenomai) Various sensor acceptable head mechanism Stereo vision system Smaller motor controller with torque control algorithm Powerful 7DOF arm design End-effector changeable mechanism Power gripper 3-axis FT sensor with increased sensing range More durable battery 3-axis IMU High friction material Powerful knee joint Extended leg Protection shell (duralumin)
- 40. ★High stiffness with light weight ★Over all weight is about 44kg including exterior case ★Avoid cantilever like structure ★40 DOF Mechanical Design – Body design 1305mm 532mm
- 41. Mechanical Design – Body design ★High stiffness with light weight design ★Expected weight(include exterior case): 41kg ★30% weight reduction compare to the HUBO
- 42. ★It is possible to move up and down with 3Hz frequency. ★7 DOF Mechanical Design – Light weight arm
- 43. Mechanical Design – Light weight arm
- 45. ★Functional hand mechanism design ★1 motor /finger ★Tendon drive system ★Shape adaptive grasping ★Compact size Mechanical Design – Adaptive hand
- 48. ★Handshake movements Mechanical Design – Adaptive hand
- 49. Mechanical Design – Arm, Push-up
- 51. 51 Moving Balls
- 52. 52 Ball Batting
- 53. 3. Hand Functional hand mechanism design - 1 motor /finger - Tendon drive system - Shape adaptive grasping - Compact size - Grasping Force : 0.2Kg/finger (5DOF/hand) - Holding Force : 1.75Kg/finger - Weight: 380g ( Photograph of hand ) Mechanical Design – Adaptive Hand
- 54. ( Photograph of hand parts ) Mechanical Design – Adaptive Hand
- 55. Mechanical Design – Adaptive Hand
- 56. 56 Mechanical Design – Head
- 57. 57 Mechanical Design – Leg
- 58. 58 Mechanical Design – Leg
- 59. 59 7. Foot Design features - 3-Axis Force/Torque sensor at foot : 1 Normal force and 2 Moments - 2-Axis Tilt sensor : measurement of ground inclination - 1-Axis G sensor : measurement of Z direction acceleration - Impact absorbing sole : 2 layer of soft & hard rubber / 4 points support of sole - Passive compliant : Urethane between F/T Sensor and Ankle Joint 3-axis Force/Torque sensor with 2-Axis Tilt sensor and 1-Axis G sensor ( Photograph of the foot ) Rubber layers Urethane Mechanical Design – Foot
- 60. 60 Quick Delivery Robot, HuboQ
- 61. System Integration JMC0 JMC1 Sen0 Sen1 Sen2 Vision CAN Interface PC (Windows) PC 104 BUS CAN Communication JMC Sen F/T Sensor Rate Gyro Acc. Etc. CAN Communication
- 62. Stretched Leg Walking Algorithm – Walking pattern Step time : 0.8sec Step length : 400mm
- 63. Stretched Leg Walking Algorithm – Experiment Stretched leg walking realize .
- 65. 65 HUBO Power Consumption - Step Period : 0.8 sec - Step Length : 20 cm
- 66. Robot Technology and the Challenge
- 67. Evolution of Robot Industrial Robot (1960’s) • Working in structured environment • Pre-scheduled motion (simple & repeating) • Machine-Robot interaction • Simple technology Intelligent Service Robot (21 century) • Working in unstructured environment • Autonomous motion • Human-Robot interaction • Technology convergence – RT+BT+NT+etc
- 68. Customer's expectation Vs. Technology level Customer's expectation Technology level Technology Level timeMarket emerging Market explodingTech. Introduced
- 69. Customer's expectation Vs. Technology level Technology Level time RT, BT, NT IT
- 70. Customer's expectation in various application time Technology Level Medical / special purpose Entertainment Welfare / Silver Limited service Ultimate service Present time Technology
- 71. Keywords for future technology application Networks – wireless (Ubiquitous) Intelligence – autonomous Mobility – physical contact Human friendly Coexisting Robot & Related Technology
- 72. Robot & Robotization Robot : New device for specific application Robotization : Embedding robotic function into existing device • Robotic spacecraft • Robotic vacuum cleaner • Robotic automobile • Robotic refrigerator - Flexibility - Intelligence - Mobility / Manipulation [Ex]
- 75. Mobility Autonomy Home Automation C.G, Anim ation Home Service Robot Automo bile Toy Robot Monitori ng, Artificial Organ, ARS Space Robot Surgery Robot Industri al Robot Customized actuators & sensors Industrial actuators & sensors Artificial muscles & smart sensors Programming Navigation Recognition & Induction HRI HCI Cybernetics A.I. Intelligent Service Robot Autonomy & Mobility Rehabil itation Military Robot Jun Ho Oh, 2008
- 76. Summary • Robot technology is not fully ready for market, yet. • Service Robot -> Robotized • Niche market – Entertainment, Medial, Military, Silver Industry, Rehabilitation – Limited Service • Convergence with BT, NT, IT
- 77. Ending :: Hubo2 Gangnam Style Dance 77