Humanoid Robotics (TIF 160) - Chalmersmwahde/courses/hr/2009/HR2009_Slides20090901.pdf · Humanoid...

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CHALMERS

Mattias Wahde, PhD, associate professor, Chalmers University of Technology e-mail: mattias.wahde@chalmers.se www: www.me.chalmers.se/~mwahde

Lecture 1, 20090901

Introduction and motivation

to humanoid robotics

Humanoid Robotics (TIF 160)

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What will you learn? (Aims)� Basic facts about humanoid robots

� Kinematics (and dynamics) of humanoid robots

� Motion of humanoid robots� Locomotion

� Other motions

� Human-robot interaction� Text-to-speech synthesis

� (Speech recognition)

� Image processing (e.g. face tracking, hand-eye coordination)

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What will you learn? (Aims)� Brain structures for humanoid robots

� Robotic behaviors

� Decision-making

� Humanoid robot programming� Microcontroller programming (Pbasic)

� High-level programming (C#)

� Putting it all together: programming and steering humanoid robots

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Course work� Theoretical exercises (to a rather small extent)

� Practical work with humanoid robots (complete or partial)

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Why should you take this course?� Humanoid robots are becoming increasingly important, and will most likely have a great impact on society in the foreseeable future (10-20 years).

� Humanoid robotics combine several different disciplines: Mechanics, electronics, programming, human-robot interaction, ethology etc. Thus, by studying humanoid robots, you learn a great deal about system engineering.

� Humanoid robots are interesting and fun to work with. ☺

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Course contents� v.1-2

� Lectures

� Theoretical assignments

� Learning C# programming

� Learning PBasic programming

� v.3-7� Robot work (in the ET-lab)

� Assignments

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Course contents (v.1-2)Date Time Room Contents

20090901 08.00-09.45 FL52 Introduction and motivation

20090903 08.00-09.45 FL74 Kinematics, humanoid robot motion

20090904 08.00-09.45 FL74 HRI* (1) Speech synthesis and recognition

20090908 08.00-09.45 FL52 HRI (2) Image processing and object rec.

20090910 08.00-09.45 FL74 Programming humanoid robots (1)

20090911 08.00-09.45 FL74 Programming humanoid robots (2)

* HRI = Human-robot interaction

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Kinematics and dynamics� Direct (forward) kinematics:Determining the position and orientation of a robot part (e.g. a hand), given the joint angles.

� Inverse kinematics:determining the joint angles, given the robot’s posture.

� Dynamics: The response of therobot to the forces acting on it.

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Humanoid robot locomotion� Kondo KHR-1

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Humanoid robot motion � Hubert

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Humanoid robot motion � Kondo KHR-1

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Human-robot interaction (HRI)� The aim of HRI research is to generate a robot capable of interacting with people in a natural way.

� HRI involves topics such as� Scene interpretation (object detection, face detection)

� Face recognition

� Emotion recognition

� Face detection, object detect

� Speech synthesis and recognition

� Dialogue: Analysing input (auditory, visual), making sense of the information (cognitive processing), and responding in an appropriate way

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Robot brain structure� One of the most challenging research topics in contemporary robotics is to provide robots with a robotic brain that is both � ...capable (able to solve the assigned taks robustly) and

� ...expandable (it should be possible to add new skills).

� In the Adaptive systems research group, we are working with a general-purpose structure for robotic brains.

� In this course, you will use a simplified version of this structure.

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Programming� The robotic brain structure has been implemented in C#, which is also the (main) programming language used in this course.

� You will need to learn C#.

� However, you will be given a lot of basic code, so that you can focus on the programmingrelevant for the course.

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Course contents (v.3-7)

� Obviously, you will need to do a lot work outside the class hours as well.

� The detailed lab schedule depends on the number of participants, and will be announced during v. 2

Date Time Room Contents

20090915 13.15-17.00 ET Practical robot work

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Assignments� Basic robot kinematics (theoretical assignment)

� You will study the kinematics of the Hubert robot

� Robot locomotion� You will use the Kondo KHR-1 robot (simulated and real) to generate a motion pattern to solve a particular task

� Text-to-speech (TTS) synthesis� Starting from C# classes provided by me, you will write a basic TTS engine (in C#)

� You will use the TTS engine in connection with the basic robot head, combining TTS, speech recognition, and image processing.

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Assignments� Face tracking and face recognition

� Using the Hubert robot, you will implement (in C# and PBasic) a robotic brain capable of basic coordinated motion

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Literature and programming� Literature

� Lecture notes (not entirely complete...)

� Various web links (e.g. to scientific papers, data sheets, manuals etc.)

� Programming languages� PBasic

� C#

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Examination� The examination will be based on the assignments and the practical robot work.

� The detailed requirements (in terms of the number of points on assignments) will be given during v. 2.

� Assignments will consist of several levels. � The basic level must be solved for a passing grade.

� Solving higher levels makes it possible to receive a higher grade.

� Some assignments will involve individual work and some will involve group work (group size: 4-5 students)

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Examination� NOTE: In order to get a passing grade, you must also return all robot equipment that you have borrowed. This is an absolute requirement for obtaining the final grade!

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Work groups� The work groups will consist of 4-5 students.

� Each group will need to come up with a group name! ☺

� The can be no more than four groups (due to limitedavailability of robotic hardware).

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To do (today!)� Send me (mattias.wahde@chalmers.se) a registration e-mail today, containing the following information:� Your name

� Your civic registration number (personnummer)

� Students who do not send this information today will be assigned (by me) to a group.

� Note: Preferably, each group should contain at least one student with a laptop (if possible with a serial port (the laptop, not the student ☺ ))

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Download and install...(today!)1) ...C#, either the express version available at http://www.microsoft.com/express/vcsharp/

or the full version (Microsoft visual studio 2008) available on the program server.

2) ...The Basic Stamp Editor (v2.4.2) available at

http://www.parallax.com/tabid/441/Default.aspx

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Download (today!)� Documentation for C# and PBasic can be found on the web. You start familiarizing yourselves with these languages.

� Of course, I will provide information regarding both C# and Pbasic, during the last two lectures in v. 2.

� Of course, you will also (during v.2) be given some sample code, both in C# and PBasic.

� Note: ALL code that you write MUST follow the code standard, which will be made available on the web page (later this week).

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Student-teacher interaction� During the course you are (of course) very welcometo ask questions at any time, not only during lectures.

� In order to do so, preferably come to my office (see the directions on the next slide).

� As a second alternative, send an e-mail. However, since I receive many e-mails every day, the best way of asking questions is to come to my office.

� Note: Please make use of the possibility to ask questions.

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Office location� Mechanical engineering building (nya M-huset), 1st floor.

� Enter near Café Bulten, follow the blue signs to ”Applied Mechanics” (Tillämpad mekanik)

� Dial my extension (3727) at the door.

Bulten Café My office

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Introduction to humanoid robotsSee chapter 1 in the lecture notes...

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Robot types� Stationary robots

� Manipulators (used in industry)

� Mobile robots� Wheeled

� Walking

� (Flying etc.)

� Note: The distinction between robots and non-robot mechanical systems is not always entirely clear. Example: Automatic braking in cars (just before a collision).

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Walking robots� Monopedal

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� Bipedal

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� Bipedal

� Quadrupedal

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� Bipedal

� Quadrupedal

� Sextupedal

� etc.

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Bipedal robots� Humanoid robots: Robots with an approximately human-like shape (anthropomorphic)

� Androids: Robots that (attempt to) exactly look like humans, including skin etc.

� In some cases (e.g. for HRI) studiesa partial humanoid can be sufficient.

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Why humanoid robots?� More natural to interact with (for people), than wheeled robots.

� Designed (by construction) for operation in environments designed for people.

� Capable of walking in stairs etc.

� Engineering challenge.

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Challenges in humanoid robotics� Generating robust, natural (human-like) movements.

� Extending the time of operation (battery technology…).

� Development of capable and extendable robotic brains (robotic behaviors, decision-making systems).

� Reducing the cost of humanoid robots.

� Legal issues…

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An illustration...

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Another illustration...

Humanoid Robotics (TIF 160) - Chalmersmwahde/courses/hr/2009/HR2009_Slides20090901.pdf · Humanoid...

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