HUMANOID ROBOTS
Prashant Chandak, Shobhan Mankad, Siddhi Tatiya G.H. Raisoni College of Engineering and Management, Wagholi, Pune.
Some forms of Humanoid Robots may model only the part of body, for example, from the waist up. Some may have ‘Face’, with ‘eyes’ and ‘mouth’. While on the other hand, some Humanoid Robots are built to resemble a human body exactly. Such robots are called as “Androids.” Given below is an Android robot showing replica as that of a female body:

Abstract- This paper presents Humanoid Robots, one of the applications of electronics engineering. Humanoid Robots are basically the robots with their overall appearance similar to that of a normal human body, which allows it to interact with the tools made for human or its environment. In general humanoid robots have a structure same as that of a normal human body consisting of one face, two hands, two legs, etc.

Index Terms- Humanoid Robots, Robotic Components, Robotics, Types of Humanoid robots.

I.

INTRODUCTION

A humanoid robot is an automatically working robot because it can adapt according to changes in its environment or itself and continue to reach its goal. This is the main difference between humanoid and other kinds of robots.

II.

FEATURES

Some of the capabilities of a humanoid robot that include are:

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Self recharge- Humanoid robot have a unique and special ability to recharge itself automatically. Autonomous learning- It learns or gains new capabilities without outside assistance adjust strategies based on the surroundings and adapt to new situations. Avoiding harmful situations affecting humans, property & itself. Safe interacting with the human beings and environment.

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Some of the robots may have the human parts, but not the exact replica of it, as shown in figure above.

III.

PURPOSE

1)

Hierarchical paradigm-

a) Initial aim of humanoid research was to develop better orthosis1 and prosthesis2 for humans. b) Besides the research, humanoid robots are being developed to perform human tasks like personal assistance, where they should be able to assist the sick and elderly, and dirty or dangerous jobs. Regular jobs like being a receptionist or a worker of an automotive manufacturing line are also suitable for humanoids.

Hierarchical paradigm scheme

c)

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A robot works by sensing the object, plans its movement and acts accordingly. It plans its next move on each step.

d) In essence, since they can use tools and operate equipment and vehicles designed for the human form, humanoids could theoretically perform any task a human being can, so long as they have the proper software. However, the complexity of doing so is deceptively great. e) They are also becoming increasingly popular for entertainment too. 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.

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2)

Reactive paradigm-

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Reactive paradigm scheme   Humanoid robots have sense-act type of organization. The robot has multiple instances of sense-act couplings. These couplings are concurrent processes, called behaviors, which take the local sensing data and compute the best action to take independently of what the other processes are doing. The robot will do a combination of behaviors.

IV.

ROBOT IC PARADIGM 

A robot is built by the interrelationship of the three main things namely:    SENSE ACT PLAN

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There are three main types of paradigms given as follows:

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Hybrid deliberately / reactive paradigm-

Orthosis is a profession that deals with design, fitting manufacturing of devices that support or correct musculoskeletal normalities or abnormalities.
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Prosthesis is an artificial extension that replaces a missing body or part of it. Hybrid deliberately / reactive paradigm scheme

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The robot first plans that how to break its task into simpler subtasks, this is called as mission planning. Then it decides the suitable behavior to complete the task. According to the reactive paradigm, it starts executing the task. Sensing organization is also a mixture of hierarchical and reactive styles, sensor data gets routed to each behavior that needs the sensor, but it is also available to the planer for construction of the task oriented global world model.

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Tilt sensors to measure inclination; Force sensors placed in robots hands and feet to measure contact with environment Position sensors that indicate the actual position of the robot or even speed sensors.

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b)

Exteroceptive Sensors:

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Exteroceptive sensors allow the robot to interact with the external world by informing it about the surrounding environment. They can be classified on the basis of their functionality. Proximity sensors are used to calculate the distance between the sensor and objects in the environment. They perform the same task that is performed by vision senses in human. There are other kinds of proximity measurements, like laser ranging, the usage of stereo cameras, or the projection of a colored line, grid or pattern of dots to observe how the pattern is distorted by the environment. To sense proximity, humanoid robots can use sonars and infrared sensors, or tactile sensors like bump sensors, whiskers (or feelers), capacitive and piezoresistive sensors. Sound sensors allow humanoid robots to hear speech and environmental sounds, and perform as the ears of the human being. Microphones are usually used for this task.

V.

COMPONENTS 

Humanoid Robots have basically two components: 1) Sensors 

2)

Actuators

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1) SENSORS: A sensor is an instrument used to sense the external environment around it. Sensing is one of the most important part of robotic paradigms. Sensors can be classified on the basis of physical process with which they work or on the basis of type measurement of information that they give as the output. Given below are the few types of sensors:

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Proprioceptive sensors: 2) ACTUATORS:

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Proprioceptive sensors are used to sense the postion, the orientation and the speed of the humanized body and joints. Humanoid robots use accelerometers to measure the acceleration, from which velocity can be calculated by integration;

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An actuator is a mechanical device used for moving or controlling a mechanism or system, which takes energy and transported usually by air, electric current, or liquid and converts that into some kind of motion. Actuators are the motors responsible for motion in the robot.

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Proprioception is the sense of the relative position of

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neighboring parts of the body.

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They can be of electric, pneumatic, hydraulic, ultrasonic, piezoelectric based working motors. Electric actuators are best suitable for high speed and low load applications. Hydraulic actuators are best suitable for low speed and high load applications. Piezoelectric actuators are generally used for ultra precise positioning and for generating and handling high forces and pressures in static or dynamic situations. Ultrasonic actuators are designed to produce movements in the order of micrometers. Useful for controlling vibration, positioning applications and quick switching. Pneumatic actuators work on the basis of gas compressibility. They are designed for low speed and low/medium load applications.

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The upper body of the robot or the torso has larger mass and inertia than the legs which are supposed to move and support the robot.

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The trajectory of a robot can be planned using the angular momentum equation to ensure that the generated joint trajectories gurantee the dynamic postural stability of the robot, which usually is quantified by the distance of ZMP in the boundaries of predefined stability region. Balancing and movement also involves the self detection of collision, path planning and obstacle avoidance. One of the important feature that is not yet found in a humanoid robot is ‘flexibility’.

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VII. VI. BALANCE & MOVEMENT NAME Actroid  After the robot’s structure is created, it’s necessary to make the robot walk and enable self analysis based upon its motion. For that balancing and calculations of its motions are important and form an integral part of the humanoid robots, since they are different from the conventional robots used in factories. They have to be provided the human-like movement, especially biped gait one. To maintain the dynamic balance during the walk, a robot needs information about the contact force and its desired motion. The solution to the problem lies on major concept called as Zero Moment Point (ZMP). ZMP is concept related to dynamics and especially to legged motion. It specifies the point with respect to which dynamic reaction force at the contact of the foot with the ground does not produce any moment, i.e. the point where total inertia force equals zero. The concept involves of the assumption that the contact area is planar and has sufficiently high friction to keep the feet from sliding. The ZMP is no longer useful if robot makes multiple non-planar contacts. AIBO ASIMO CHROMET GuRoo HOAP HRP-4C Iclub Nao KISMET Plen REEM
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EXAMPLES PURPOSE/ FEATURES Mimic blinking, speaking Robotic pet To interact better with humans Large number of sensors Competes in the ROBOCUP Easy to program and simple initial start up voice recognition, speech synthesis To study cognition Competes in ROBOCUP Human Emotion & Appearance Controllable by a Bluetooth enabled phone Simultaneous

MANUFACTURER/ DEVELOPER Kokoro Company LTD Sony, Japan Honda, Japan NIAIST4,Japan MRLSITEE5 Fujitsu Automation, Japan NIAIST,Japan RobotCub Consortium Aldebaran Robotics, France MIT6 Akazawa Co Ltd,Japan Pal Technology

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National Institute of Advanced Industrial Science and Technology
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Mobile Robotics Laboratory in the School of Information Technology and Electrical Enginnering
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Massachusetts Institute of Technology

Robonaut Robonova-1 Robosapein SIGMO Toyota Partner Robots TOPIO

NASA MiniRobot WowWee

Toyota TOSY

localization and mapping Space exploration & teleportation Electromagnet gun with laser Can be controlled with infrared signals Study the applications of passive dynamics Assist lives of Japan’s Aging people Play table tennis

GYNOIDGYNOID is designed to resemble a human female. The term was termed by Gwyneth Jones .

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ASIMO-

A robot Manufactured by Honda, Japan , that stands at 130cm and weighing 54kg. it resembles a small astronaut wearing a backpack and can walk or run on two feet on speed upto 6km/h Officially the name is an acronym for “Advanced Step in Innovative Mobility”, though Honda claims it not to be true.

Gynoid functions include doing traditional women’s work such as household chores, secretarial work and teaching small children  KISMET-

KISMET was made by MIT in the late 1990’s. specially designed to study the human emotions and appearences. The name comes from the Arabic,Turkish,Urdu,Hindi and Punjabi word meaning “fate”.

It was developed to have better interaction with the humans. The five features that fall under its credit are:      Recognition of moving objects Recognition of postures and gestures Environment recognition Distinguishing sounds Facial recognition

Kismet simulates emotion through various facial expressions, vocalizations, and movement. Facial expressions are created through movements of the ears, eyebrows, eyelids, lips, jaw, and head. The cost of physical materials is an estimated US$25,000 !  iCUB-

The iCub is a small-size humanoid robot being designed by the RobotCub Consortium, consisting of several European universities. The main goal of this platform is to study cognition through the implementation of biological motivated algorithms. This is an open project in many different ways: it will distribute its platform openly and it will develop software open-source.

The dimensions of the iCub are similar to that of a 3.5 year old child.iCub, in its final version, will have 54 degrees of freedom organized as follows:

Although the Nao Academics Edition is already available for universities and laboratories for research purposes, it will not be available to the general public until 2011. On August 15, 2007, Nao replaced the robot dog Aibo by Sony as the robot used in the Robocup ("Robot Soccer World Cup") Standard Platform League (SPL), an international robotics competition [1]. The Nao was used in RoboCup 2008 and 2009, and the NaoV3R was chosen as the platform for the SPL at RoboCup 2010.

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7 for each arm 9 for each hand 6 for the head 3 for the torso and spine 6 for each leg .

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TOPIO-

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AIBO-

TOPIO is a bipedal humanoid robot designed to play table tennis against a human being. It has been developed since 2005 by TOSY, a robots firm in Vietnam. It was publicly demonstrated at the Tokyo International Robot Exhibition (IREX) on November 28, 2007. TOPIO 3.0 the latest vesion of TOPIO stands approximately 1.88 m tall and weighs 120 kg.

AIBO i.e. Artificial Intelligence roBOt, was one of several types of robotic pets designed and manufactured by Sony; there have been several different models since their introduction on May 11, 1999. AIBO was discontinued in 2006.

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ENON-

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NAO-

Enon was created to be a personal assistant. It is self-guiding and has limited speech recognition and synthesis. It can also carry things.

Nao is an autonomous, programmable and medium-sized humanoid robot, developed by the French company Aldebaran Robotics, a start-up headquartered in Paris.

On the other hand, there are very good algorithms for the several areas of humanoid construction, but it's very difficult to merge all of them into one efficient system as the system complexity becomes very high. Nowadays, these are the main difficulties that humanoid robots development has to deal with. Humanoid robots are created to imitate some of the same physical and mental tasks that humans undergo daily. Scientists and specialists from many different fields including engineering, cognitive science, and linguistics combine their efforts to create a robot as human-like as possible. Their creators' goal for the robot is that one day it will be able to both understand human intelligence, reason and act like humans. If humanoids are able to do so, they could eventually work in cohesion with humans to create a more productive and higher quality future.

Given above is an artificial hand holding the light bulb.

VIII.

CONCLUSION:

Humanoid Robots try to simulate the human structure and behavior and they are autonomous systems, hence most of the times humanoid robots are more complex than other kinds of robots. This complexity affects all robotic scales (mechanical, spatial, time, power density, system and computational complexity), but it is more noticeable on power density and system complexity scales. In the first place, most current humanoids aren’t strong enough even to jump and this happens because the power/weight ratio is not as good as in the human body. The dynamically balancing Anybots Dexter can jump, but poorly so far.