Why Humanoid Robots .

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Why Humanoid Robots?*. Çetin Meriçli Department of Computer Engineering Bo ğ azi ç i University 06.10.2006. * Largely adapted from Carlos Balaguer’s talk in IURS’06. Outline. Motivation What is a Humanoid Anyway? History of Humanoid Robots Why Develop Humanoids?
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Why Humanoid Robots?* Çetin Meriçli Department of Computer Engineering Bo ğ azi ç i University 06.10.2006 * Largely adjusted from Carlos Balaguer\'s discussion in IURS\'06

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Outline Motivation What is a Humanoid Anyway? History of Humanoid Robots Why Develop Humanoids? Challenges in Humanoids Bipedalism and Cognition Bipedal Locomotion Stability by means of ZMP Active versus Detached Locomotion Humanoid Robot Applications Social Aspects

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Motivation One of the best longs for the humankind Being a maker, giving life

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Motivation (cont\'d) Possibility of overdevelopment and defy Will robots ever figure out how to assume control over the world?

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What is a Humanoid Anyway? Humanoid alludes to any being whose body structure takes after that of a human: head, middle, legs, arms, hands. In any case, it is additionally a robot made to take after a human both in appearance and conduct . The distinction between a robot and android is just shallow, looks precisely like people all things considered, however with inner mechanics of humanoid robot.

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Why Develop Humanoids? More judicious reasons They can work in human environment without a need to adjust or to change the environment Our surroundings and our devices are adjusted for us Why adjust all to robots?! It is less demanding for a person to cooperate with a human-like being Because it is a fantasy of eras

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Challenges in Humanoids Bipedal human-like motion Stable step Changing model amid one/two feet bolster strolling Two legs, two arms, head, middle Hyper DOF framework (>20) Complex kinematics and progression Complex constant control design

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Bipedism and Cognition Bipedism and discernment has a cozy relationship Is it conceivable to have comprehension without velocity? Is it conceivable to have bipedism without discernment? HAL 9000 Monkey

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Human Evolution Bipedism liberates the hands to make devices and begin insight

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Human Evolution versus Humanoid Evolution

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Humanoid Evolution (cont\'d) Nowadays, humanoid robot scientists are concentrating on bipedism more than they do in comprehension Stable and vigorous bipedal movement is still a decent lab case It is compulsory to comprehend it keeping in mind the end goal to have the capacity to actualize perception We are in the pre-mechanical time contrasted and the human advancement

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Bipedal Locomotion ZMP (Zero Moment Point) determines the indicate with deference which dynamic response drive at the contact of the foot with the ground does not deliver any minute, i.e. the point where add up to inactivity drive measures up to 0 (zero). ZMP is the marker of the dependability of the robot: in the event that it is in the foot shadow – stable, If not – insecure. The shadow relies on upon single or twofold bolster stage.

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Active versus Latent Locomotion Common humanoid utilizes all their DOF to play out the development: Continuous engine utilization (counting arms) Continuous engine control and synchronization Extremely complex ongoing control How is conceivable to lessen intricacy? Decreasing number of dynamic DOF Using DOF just when it is entirely vital Using vitality of past stride to produce the following These activities lessen additionally the utilization

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Passive Dynamic Walking Human strolling methodology: Let their legs swing as they would all alone, Then include a little control and power, yielding a step with intrinsically low vigorous and control requests. Focal points: as opposed to unbendingly joint-controlled robots, strolling robots in light of uninvolved element standards can have human-like productivity and activation necessities. Inconveniences: Movements are for the most part in sagital plane and in straight line, being to a great degree hard to turn, backpedal, seat,etc. The movement is generally symmetrical.

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Passive Dynamic Walking (cont\'d) Active Gait : Always stable Passive Gait : Sometimes precarious

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Humanoid Robot Applications

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Social Aspects : What Are You Prefer Humanoid as a slave New electrical apparatus? Will they be another tamagotchi? Will they be adjusted to the ace? Back to servitude? Humanoid as a partner Will they get socially acknowledged? Will they have social rights? Will\'s identity in charge of them? Will they have the capacity to gain some still, small voice? Will they evolute?

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