By Chun-Lung Lim Jay Hatcher Clay Harris

1. By Chun-Lung Lim Jay Hatcher Clay Harris

2. Humanoid Robotic Hardware Biped Humanoid Robot Group - Kato/Takanishi Laboratory & Waseda University WABIAN-2 - (WAseda BIpedal humANiod-No.2) Artificial Muscle Begins to Breathe Sensor Networks for Humanoids (Repliee Q2)

3. WL-1 (Waseda Leg Series) The artificial lower-limb WL-1 was constructed on the basis of a human’s leg mechanism in 1967 Investigation of the fundamental functions of biped locomotion

4. WL-3 Constructed with electro-hydraulic servo-actuator in 1969 Achieved a human-like motion in a swing phase and a stance phase, and a standing and sitting motion

5. WL-5 Eleven mechanical degrees of freedom; two x five DOF legs and one DOF trunk could change the direction by using a program control (1971)

6. WABOT-1 the world’s first full-scale anthropomorphic robot Could communicate with a human in Japanese Measure the distances and directions of objects using external receptors such as artificial ears and eyes Hydraulically powered, it uses disproportionately large feet for stability realized “static walking” in 1973

7. WL-9DR achieved quasi-dynamic walking used a 16-bit microcomputer as its controller ten mechanical degrees of freedom

8. WL-10R constructed by the rotary type servo-actuators and carbon-fiber reinforced plastic in 1983 achieved forward and backward walking, turning on the plane

9. WL-10RD achieved a complete dynamic walking on the plane with the step time of 1.3 s/step dynamic walking on uneven terrain such stairs and inclined planes was realized with a step time of 2.5 s/step

10. WL-12 hydraulic biped having an upper body and a two-degrees-of-freedom waist (1986) dynamic biped walking was realized under external forces of unknown environments and on unknown walking surfaces

11. WL-12RDIII walked in unknown paths, and stairs in a human residential environment Also used trunk motion for balance and for compensating moment generated by leg movement

12. WABIAN (WAseda BIpedal humANoid) Dynamic forward and backward walking Collaborative work with humans Dancing Carrying a Load Emotional Walking Total of 35 DOF

13. WABIAN-2 Total of 41 DOF Height: 153 cm Weight: 64.5 kg w/Ni-H batteries 60.0 kg without 6-axis Force Sensors Photo Sensor DC Servo Motors On Board Computer

14. WABIAN-2 Control System

15. Human Like Walking with 6 vs. 7 DOF

16. Waist Movement 2-DOF (Roll, Yaw) in the waist enables more human-like walking motions. This new mechanism has an advantage which allows the robot to walk with knee stretched position due to the independent orientation of trunk movement.

17. Movement Examples Moving knees with feet on the floor Upper body movement Moving arms and legs with feet and hands fixed Conventional walking Stretch walking Walking assisted

18. Artificial Muscle Begins to Breathe Fuel cell muscle. (Top) Oxygen dissolved in water transfers charge (assisted by the platinum catalyst) to paper made of carbon nanotubes (CNT). The nanotube film (black) expands as a result of the charging (3), causing it to bend as it expands relative to the platinum/carbon/ionomer layer (dark gray). (Bottom) The bending is reversed by closing the circuit to a hydrogen electrode, which neutralizes the charge. The counter electrode is a carbon bilayer-platinum catalyst-Nafion membrane electrode assembly shown in "exploded view." Fuel cell muscle. (Top) Oxygen dissolved in water transfers charge (assisted by the platinum catalyst) to paper made of carbon nanotubes (CNT). The nanotube film (black) expands as a result of the charging (3), causing it to bend as it expands relative to the platinum/carbon/ionomer layer (dark gray). (Bottom) The bending is reversed by closing the circuit to a hydrogen electrode, which neutralizes the charge. The counter electrode is a carbon bilayer-platinum catalyst-Nafion membrane electrode assembly shown in "exploded view."

19. Tensile actuator. (Left) Nickel titanium shape memory alloys can also be used as actuators. The NiTi wire is coated with platinum catalyst. (Right) When dissolved hydrogen and oxygen react on the platinum coating to produce water, the resulting heat induces a phase change in the NiTi leading to contraction and force generation (2). Both actuator reactions are reversible. Tensile actuator. (Left) Nickel titanium shape memory alloys can also be used as actuators. The NiTi wire is coated with platinum catalyst. (Right) When dissolved hydrogen and oxygen react on the platinum coating to produce water, the resulting heat induces a phase change in the NiTi leading to contraction and force generation (2). Both actuator reactions are reversible.

20. Fig. 2. Continuously shorted fuel-cell muscle based on a NiTi shape-memory alloy. (A) Schematic illustration, with cutaway to reveal details, of the fuel-powered artificial muscle mounted in the dynamic mechanical analyzer used for measurements. (B) Actuator strain versus time during exposure of the chemically powered actuator to a mixture of N2, 2.5% by volume hydrogen and 50% oxygen (red curves) and during exposure to pure oxygen (blue curves). (C) Actuator strain versus time for different volume percents of H2 for the experiment in (B). The insert shows the dependence of actuator strain on the H2 volume % in the fuel This stress-generation capability is 500 times that which is typical for human skeletal muscle (0.3 MPa), whereas the percent stroke is 25% that of this natural muscle Fig. 2. Continuously shorted fuel-cell muscle based on a NiTi shape-memory alloy. (A) Schematic illustration, with cutaway to reveal details, of the fuel-powered artificial muscle mounted in the dynamic mechanical analyzer used for measurements. (B) Actuator strain versus time during exposure of the chemically powered actuator to a mixture of N2, 2.5% by volume hydrogen and 50% oxygen (red curves) and during exposure to pure oxygen (blue curves). (C) Actuator strain versus time for different volume percents of H2 for the experiment in (B). The insert shows the dependence of actuator strain on the H2 volume % in the fuel This stress-generation capability is 500 times that which is typical for human skeletal muscle (0.3 MPa), whereas the percent stroke is 25% that of this natural muscle

21. Main Advantages high–energy-density fuels (hydrogen, methanol, or formic acid) may be used resulting in much longer operating times Honda’s humanoid, ASIMO, only lasts 45 minutes on its batteries WABIAN 2 only lasts around 30 minutes Lightweight compared to Servo Motors and Batteries

22. Omnidirectional Sensor

23. Image based localization based on omnidirectional images

24. Directional Determination with Omnidirectional Images The phase of the Fourier transform is associated to the heading of the robot Magnitude of the Fourier transform does not change when the robot is turning and the appearance doesn’t change The phase of the Fourier transform changes and is proportional to the change in the heading of the robot

25. Sensor Network for Robots

26. Conclusions Significant advances in technology has enabled lifelike humanoids (Repliee Q2) Coming advances will result in frequent encounters with humanoids Humanoid development will help in the construction of better prosthetics and rehabilitation techniques Improved robotic suits lead to supermen!