Building Humanoid Robots Our quest to create intelligent machines

Aaron Edsinger

MIT Computer Science and Artificial Intelligence Laboratory

Humanoid Robotics Groupedsinger@csail.mit.edu

http://csail.mit.edu/~edsinger

Robots!

Building Robots

Making Robots Smart

Understanding Human Intelligence

MITHumanoid Robotics Group

Building Robots Early Experiences

1982Hovercraft

1992Solar Car

Stanford University

Childhood Inventor

Building RobotsLife as a Robot

Artist

Building RobotsLife as a Robot

Artist

QuickTime™ and aSorenson Video decompressorare needed to see this picture.

Life as a Robot Researcher,

MIT

COG

KISMET

DOMO

CARDEA

Building Robots

Building RobotsDOMO

Building RobotsDOMO

Building RobotsDOMO

Building RobotsDOMO

Building RobotsDOMO

Making Robots Smart

Robots That Can Work Alongside Humans

Robots That Entertain

WE WE CAN CAN BUILD BUILD YOUYOU

Extreme Humanlike Robots

“Albert Hubo” by Hanson, ARRI, KAIST

world’s first facial expressions on a walking humanoidHanson Robotics Inc“humanizing technologies””

ProcessProcess

Hanson Robotics Inc“humanizing technologies””

Albert Hubo and KAIST

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 of1. Speech, 2. Natural language, 3. Vision: face, gesture, objects

• Cognitive Architectures1. Theory of Mind 2. Dynamic Modeling

• Physical Interaction with the world: 1. Bipedal locomotion, Manipulation2. Navigation, mapping3. Expressive hardware, mfg process

• Adoption of the Humanlike form1. We are naturally attracted to faces and gestures2. Much more sensitive to Human Faces and

gestures

Cog

Kismet

•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

Behavior Based Architecture

Series Elastic and Force Sensing Compliant Actuators

F=-kx

Series Elastic and Force Sensing Compliant Actuators

•Mechanically simple

•Improved stability

•Shock tolerance

•Highly backdrivable

•Low-grade components

•Low impedance at high frequencies

Passive and Active Compliance

Series Elastic Actuator Force based grasping

Understanding Human Intelligence