ASIMO機(jī)器人實(shí)用教案

1、DIRECTORY 1.Research Background 2.Specification 3.Function 4.Prospects第1頁(yè)/共29頁(yè)第一頁(yè)，共30頁(yè)。Research Background Humanoid robot is a kind of look like people, have the function of mobile, cognitive functions, operating functions, learning function, autonomy ability, associative memory, and emotional commu

2、nication intelligent robot.仿人機(jī)器人是一種外觀與人類似，具有(jyu)移動(dòng)功能、感知功能、操作功能、學(xué)習(xí)功能、自治能力、聯(lián)想記憶、情感交流的智能機(jī)器人。 仿人機(jī)器人仿人機(jī)器人第2頁(yè)/共29頁(yè)第二頁(yè)，共30頁(yè)。Research Background Humanoid robot set machinery, materials, electronics, computer, automation and multi-discipline, high technical content, research and development is difficult, it

3、 is a national high technical strength and development level of important symbol. After the humanoid robot is the main attack direction in the robot research. 仿人機(jī)器人集機(jī)械、材料、電子、計(jì)算機(jī)、自動(dòng)化等多門學(xué)科為一體，技術(shù)含量高、研究和開發(fā)難度大，它是一個(gè)國(guó)家高技術(shù)實(shí)力和發(fā)展水平(shupng)的重要標(biāo)志。仿人機(jī)器人是以后機(jī)器人研究的主攻方向。 第3頁(yè)/共29頁(yè)第三頁(yè)，共30頁(yè)。Research Background Why do w

4、e want to study humanoid robot One of the few high order, nonlinear, multi degree of freedom system of nonholonomic constraints, is to study a variety of new theory and new method is a very ideal experimental platform 少有的高階、非線性、非完整約束的多自由度系統(tǒng)，是研究各種新理論和新方法的一個(gè)非常理想的實(shí)驗(yàn)平臺(tái) It can be a powerful promoting cha

5、nges in the field of politics, society, military, and promote the industry, agriculture, commerce, service trade development. 可以(ky)有力的推進(jìn)政治、社會(huì)、軍事領(lǐng)域的變革，并且促進(jìn)工業(yè)、農(nóng)業(yè)、商業(yè)、服務(wù)等行業(yè)的發(fā)展。第4頁(yè)/共29頁(yè)第四頁(yè)，共30頁(yè)。Research Background 早稻田大學(xué)仿人機(jī)器人研究早稻田大學(xué)仿人機(jī)器人研究(ynji)產(chǎn)品集產(chǎn)品集第5頁(yè)/共29頁(yè)第五頁(yè)，共30頁(yè)。 日本本田(bn tin)公司ASIMO之演進(jìn) SONY機(jī)器人第6頁(yè)/共2

6、9頁(yè)第六頁(yè)，共30頁(yè)。Specification尺寸 長(zhǎng)度130cm寬度45cm深度 34cm重量 48kg（比上一代減輕6kg） 性能最大時(shí)速時(shí)速9km（上一代時(shí)速6km） 活動(dòng)時(shí)間 40分（步行時(shí)） 通過自動(dòng)充電可實(shí)現(xiàn)連續(xù)活動(dòng) 關(guān)節(jié)自由度頭部 3 總計(jì) 57個(gè)關(guān)節(jié)（較上一代增加了23個(gè)） 腕部 72 手部 122 腰部 2 腿部 62 第7頁(yè)/共29頁(yè)第七頁(yè)，共30頁(yè)。Specification自由度（類似人類(rnli)的關(guān)節(jié)）頭部 頸關(guān)節(jié)(U/D，RT) *13 DOF臂 肩關(guān)節(jié)(F/B，U/D，RT) 肘關(guān)節(jié)(F/B) 腕關(guān)節(jié)(RT)3 DOF1 DOF3 DOF 7 DOF2手臂

7、= 14 DOF腰 彎1 DOF手 拇指1 DOF 四指1 DOF 2 DOF2手 = 4 DOF腿 髖關(guān)節(jié)(F/B，L/R，RT) 膝關(guān)節(jié)(F/B) 踝關(guān)節(jié)(F/B，L/R)3 DOF1 DOF2 DOF 6 DOF2腿 = 12 DOF第8頁(yè)/共29頁(yè)第八頁(yè)，共30頁(yè)。Specification第9頁(yè)/共29頁(yè)第九頁(yè)，共30頁(yè)。n Free action 自由動(dòng)作n Use props 使用(shyng)道具n Information communicationn 信息交流Function第10頁(yè)/共29頁(yè)第十頁(yè)，共30頁(yè)。Free action以時(shí)速以時(shí)速9km奔跑奔跑 ，較之上一代的，

8、較之上一代的6km，奔跑速度顯著，奔跑速度顯著(xinzh)提升。提升。雙腳跳躍雙腳跳躍(tioyu)懸空懸空 ，全新控制技術(shù)，讓腿部力量加大，活動(dòng)范圍，全新控制技術(shù)，讓腿部力量加大，活動(dòng)范圍擴(kuò)大。擴(kuò)大。在崎嶇路面上行走在崎嶇路面上行走 ，敏捷性大幅提升在崎嶇路面上仍可保持穩(wěn)定，敏捷性大幅提升在崎嶇路面上仍可保持穩(wěn)定姿勢(shì)順利姿勢(shì)順利(shnl)行走，能夠靈活應(yīng)對(duì)外部的各種狀況。行走，能夠靈活應(yīng)對(duì)外部的各種狀況。單腳跳躍行走單腳跳躍行走 ，得益于全新控制技術(shù)，可進(jìn)行單腳跳躍行走。第11頁(yè)/共29頁(yè)第十一頁(yè)，共30頁(yè)。Free action Running at 9 km per hour, co

9、mpared with the previous generation of 6 km, running speed significantly increased.Jump your feet dangling, a new control technology, let the leg strength increasing, expanding activity.Walking on uneven terrain, agility of substantial increase in the rugged road can still be stable smooth walking p

10、osture, flexibility to cope with external conditionsJump on one foot walk, thanks to the new control technology, can be carried out walking one foot jump.第12頁(yè)/共29頁(yè)第十二頁(yè)，共30頁(yè)。Free action打出手語(yǔ)打出手語(yǔ) ，高性能小型多指手，在手掌、五指中分別，高性能小型多指手，在手掌、五指中分別(fnbi)內(nèi)置接觸傳感內(nèi)置接觸傳感器與壓力傳感器后，可對(duì)各節(jié)手指進(jìn)行獨(dú)立操控，從而完成需復(fù)雜手指運(yùn)器與壓力傳感器后，可對(duì)各節(jié)手指進(jìn)行獨(dú)立

11、操控，從而完成需復(fù)雜手指運(yùn)動(dòng)才可實(shí)現(xiàn)的手語(yǔ)表達(dá)。動(dòng)才可實(shí)現(xiàn)的手語(yǔ)表達(dá)。踢足球，全新控制技術(shù)，讓腿部力量加大，活動(dòng)范圍擴(kuò)大，并能自由變換踢足球，全新控制技術(shù)，讓腿部力量加大，活動(dòng)范圍擴(kuò)大，并能自由變換(binhun)著位置。著位置。自在步行，自在步行，ASIMO可以可以(ky)在平坦的地面上順暢行走?？烧{(diào)整步伐來保在平坦的地面上順暢行走?？烧{(diào)整步伐來保持上半身的平衡，還可旋回、持上半身的平衡，還可旋回、8字行走字行走 上下臺(tái)階上下臺(tái)階，ASIMO可以在平坦的地面上順暢行走?？烧{(diào)整步伐來保持上半身的平衡，還可旋回、8字行走。第13頁(yè)/共29頁(yè)第十三頁(yè)，共30頁(yè)。Free actionFightin

12、g, high-performance small number refers to the hand, in the palm, fingers, respectively, the built-in contact sensor and pressure sensor, can be an independent control of each finger, it should take to complete complex finger movement to sign language expression can be realized.Playing football, a n

13、ew control technology, let the leg strength increase, they extended their presence to and be able to free transform the position.Comfortable walking, ASIMO can walk on the flat ground smooth. Pace can be adjusted to maintain the balance of the upper part of the body, still can walk cycle, a figure 8

14、Up and down the steps, ASIMO can walk on the flat ground smooth. Pace can be adjusted to maintain the balance of the upper part of the body, still can walk cycle, a figure 8.第14頁(yè)/共29頁(yè)第十四頁(yè)，共30頁(yè)。Free action自動(dòng)修正位置，自動(dòng)修正位置，ASIMO可自行識(shí)別步行路線上的標(biāo)示，根據(jù)可自行識(shí)別步行路線上的標(biāo)示，根據(jù)(gnj)標(biāo)示一邊標(biāo)示一邊走一邊。走一邊。直線行走，直線行走，ASIMO在雙腳均離地時(shí)可積

15、極地控制姿勢(shì)，保持直線行在雙腳均離地時(shí)可積極地控制姿勢(shì)，保持直線行走。走。2005年年Honda發(fā)表的新技術(shù)發(fā)表的新技術(shù)(jsh)使使ASIMO的最高時(shí)速提高至的最高時(shí)速提高至6km。旋回奔跑，旋回奔跑，ASIMO可自行控制姿勢(shì)可自行控制姿勢(shì)(zsh)，保持穩(wěn)定的旋回奔跑或，保持穩(wěn)定的旋回奔跑或8字形走動(dòng)。字形走動(dòng)。全身協(xié)調(diào)運(yùn)動(dòng)全身協(xié)調(diào)運(yùn)動(dòng)，ASIMO可配合步行姿勢(shì)來控制手腕的動(dòng)作，還會(huì)跳舞。2005年末Honda發(fā)表的新技術(shù)提高了ASIMO的全身協(xié)調(diào)功能，在提高全身平衡性的同時(shí)實(shí)現(xiàn)動(dòng)作的柔軟和迅速。第15頁(yè)/共29頁(yè)第十五頁(yè)，共30頁(yè)。Free actionCorrect position,

16、 ASIMO can identify the symbols on walking routes, as they walked along, according to mark.Walk straight, ASIMO in both feet off the ground when can actively control the position, keep walking straight. Honda 2005 published by the new technology to raise the top speed of ASIMO to 6 km.Running cycle,

17、 ASIMO can control the posture, figure 8 walking or running is stable cycle.Whole body motion coordination, ASIMO can cooperate walking posture to control the movement of the wrist, also can dance. Published in late 2005, Hondas new technology to improve the function of ASIMO body coordination, whil

18、e improve balance to the body soft and quickly implement action.第16頁(yè)/共29頁(yè)第十六頁(yè)，共30頁(yè)。Use props擰瓶蓋倒水?dāng)Q瓶蓋倒水 ，手掌、五指中分別內(nèi)置接觸傳感器與壓力傳感器，各節(jié)手指獨(dú)立，手掌、五指中分別內(nèi)置接觸傳感器與壓力傳感器，各節(jié)手指獨(dú)立(dl)操控抓握。操控抓握。搬運(yùn)托盤，運(yùn)用視覺傳感器和手腕力度傳感器，搬運(yùn)托盤，運(yùn)用視覺傳感器和手腕力度傳感器，ASIMO可根據(jù)實(shí)際情況交接實(shí)物。可根據(jù)實(shí)際情況交接實(shí)物。比如，比如，ASIMO可通過手腕接觸放置托盤的桌子，從而判斷高度和負(fù)荷可通過手腕接觸放置托盤的桌子，從而判斷

19、高度和負(fù)荷(fh)大小。大小。另外，還可協(xié)調(diào)全身動(dòng)作來放置托盤，無論桌子高低，都可靈活應(yīng)對(duì)。另外，還可協(xié)調(diào)全身動(dòng)作來放置托盤，無論桌子高低，都可靈活應(yīng)對(duì)。推車前進(jìn)，運(yùn)用手腕的傳感器，推車前進(jìn)，運(yùn)用手腕的傳感器，ASIMO可調(diào)整左右可調(diào)整左右(zuyu)手腕的推力，手腕的推力，保持與推車之間的合適距離，一邊前進(jìn)一邊推車。當(dāng)推車遇到障礙時(shí)，保持與推車之間的合適距離，一邊前進(jìn)一邊推車。當(dāng)推車遇到障礙時(shí)，ASIMO還會(huì)自行減速并改變行進(jìn)方向，直線或者轉(zhuǎn)彎推車。還會(huì)自行減速并改變行進(jìn)方向，直線或者轉(zhuǎn)彎推車。第17頁(yè)/共29頁(yè)第十七頁(yè)，共30頁(yè)。Use propsScrew cap water, palm

20、, fingers built-in contact sensor and pressure sensor, respectively, in the independent manipulation of grasping each finger.Carrying trays, using visual sensor and wrist force sensor, ASIMO handover material according to actual situation. ASIMO can be contacted by the wrist, for example, put the tr

21、ay table, so as to determine the height and load. In addition, can also coordinate the whole body movement to place the tray, regardless of the table, can be flexible to cope.Push forward, using the wrist sensor, ASIMO can be adjusted around the wrist of thrust, keep with the cart, the appropriate d

22、istance between forward and cart. When the cart encountered obstacles, ASIMO will slow down and change direction, on its own turn straight or cart.第18頁(yè)/共29頁(yè)第十八頁(yè)，共30頁(yè)。Information communication同時(shí)分辨多人講話同時(shí)分辨多人講話 ，通過，通過(tnggu)視覺與聽覺傳感器聯(lián)動(dòng)辨識(shí)人的臉視覺與聽覺傳感器聯(lián)動(dòng)辨識(shí)人的臉部與聲音，可同時(shí)辨識(shí)多人的聲音，而這一點(diǎn)即便是人類也很難做到。部與聲音，可同時(shí)辨識(shí)多人的聲音，而這

23、一點(diǎn)即便是人類也很難做到。預(yù)測(cè)行人的行走方向預(yù)測(cè)行人的行走方向(fngxing)，調(diào)整步伐以免發(fā)生碰撞?；诳臻g傳，調(diào)整步伐以免發(fā)生碰撞?；诳臻g傳感器提供的信息，可對(duì)數(shù)秒后人的行進(jìn)方向感器提供的信息，可對(duì)數(shù)秒后人的行進(jìn)方向(fngxing)進(jìn)行預(yù)測(cè)。若發(fā)進(jìn)行預(yù)測(cè)。若發(fā)現(xiàn)與自身移動(dòng)預(yù)測(cè)位現(xiàn)與自身移動(dòng)預(yù)測(cè)位s置發(fā)生沖突，將瞬間選擇其他線路，確保行進(jìn)時(shí)不置發(fā)生沖突，將瞬間選擇其他線路，確保行進(jìn)時(shí)不與人相撞。與人相撞。識(shí)別聲音和來源，識(shí)別聲音和來源，ASIMO可識(shí)別人的聲音以及其它可識(shí)別人的聲音以及其它(qt)響動(dòng)，可進(jìn)響動(dòng)，可進(jìn)行簡(jiǎn)單的會(huì)話。另外，行簡(jiǎn)單的會(huì)話。另外，ASIMO還可以識(shí)別聲音的來源

24、，當(dāng)你叫它時(shí)，還可以識(shí)別聲音的來源，當(dāng)你叫它時(shí)，它還會(huì)把頭轉(zhuǎn)向你的方向，看著說話的人來交流。它還會(huì)把頭轉(zhuǎn)向你的方向，看著說話的人來交流。面部識(shí)別面部識(shí)別，檢測(cè)出由頭部裝載的攝像機(jī)提供的影像信息中的多個(gè)移動(dòng)物體，能識(shí)別儲(chǔ)存在記憶中的面部，稱呼姓名、傳達(dá)信息，可做向?qū)??？勺R(shí)別10人左右。第19頁(yè)/共29頁(yè)第十九頁(yè)，共30頁(yè)。Information communicationDistinguish people talking at the same time, through the visual and auditory sensor linkage identification face an

25、d voice, at the same time identify peoples voice, and that even humans also hard to do.rediction of pedestrians walking direction, adjustment pace in order to avoid a collision. Based on spatial information from sensors, logarithmic seconds later generations for predicting the direction. If discover

26、 clashed with their own mobile predicted bit s set, will choose other circuit, instantaneous travel to ensure that no collision with other people.第20頁(yè)/共29頁(yè)第二十頁(yè)，共30頁(yè)。Information communicationIdentify sources of sound and, ASIMO can recognize human voices, and other, shaking to simple conversation can

27、 be. In addition, ASIMO can identify the source of the sound, when you call it, it will turn your head to your direction, looking at the speaker to communicate 。Facial recognition, to detect the image information is provided by the camera head load of multiple moving objects, recognizes the face, st

28、ored in a memory address name, convey information, to do the wizard. Can identify about 10 people.第21頁(yè)/共29頁(yè)第二十一頁(yè)，共30頁(yè)。Information communication識(shí)別移動(dòng)物體，通過頭部攝像頭，識(shí)別移動(dòng)物體，通過頭部攝像頭，ASIMO可辨別出多個(gè)可辨別出多個(gè)(du )移動(dòng)體，并移動(dòng)體，并判斷出與其的距離、方向。憑借攝像頭的信息，判斷出與其的距離、方向。憑借攝像頭的信息，ASIMO可跟著人步行。可跟著人步行。情景和姿勢(shì)的識(shí)別，從影像信息中檢測(cè)出手的位置和運(yùn)動(dòng)情景和姿勢(shì)的識(shí)別，

29、從影像信息中檢測(cè)出手的位置和運(yùn)動(dòng)(yndng)，識(shí)別姿勢(shì)和，識(shí)別姿勢(shì)和動(dòng)作。不僅僅可識(shí)別聲音指令，也可以使別人的自然動(dòng)作并作出反應(yīng)。當(dāng)你伸出動(dòng)作。不僅僅可識(shí)別聲音指令，也可以使別人的自然動(dòng)作并作出反應(yīng)。當(dāng)你伸出手時(shí)，手時(shí)，ASIMO會(huì)跟你握手。當(dāng)你揮手時(shí)，會(huì)跟你握手。當(dāng)你揮手時(shí)，ASIMO會(huì)回應(yīng)揮手。會(huì)回應(yīng)揮手。認(rèn)知環(huán)境，識(shí)別周圍的環(huán)境，把握障礙物的位置，可以避免碰撞并認(rèn)知環(huán)境，識(shí)別周圍的環(huán)境，把握障礙物的位置，可以避免碰撞并繞行。人或其他移動(dòng)的障礙物突然出現(xiàn)在面前時(shí)會(huì)停下來，離開后繞行。人或其他移動(dòng)的障礙物突然出現(xiàn)在面前時(shí)會(huì)停下來，離開后繼續(xù)步行。繼續(xù)步行。2005年末年末Honda發(fā)表的新

30、技術(shù)提高發(fā)表的新技術(shù)提高(t go)了各傳感器的了各傳感器的精度，使精度，使ASIMO對(duì)周圍環(huán)境的認(rèn)知度更高。對(duì)周圍環(huán)境的認(rèn)知度更高。 NewIC通信卡通信卡 ，根據(jù)IC通信卡提供的客人信息，ASIMO可判斷出對(duì)方的屬性和位置，判斷與客人的距離，還會(huì)與擦身而過的人打招呼，將客人引導(dǎo)至預(yù)定的場(chǎng)所，可根據(jù)顧客的信息進(jìn)行適宜的接待和服務(wù)。 第22頁(yè)/共29頁(yè)第二十二頁(yè)，共30頁(yè)。Information communicationIdentification of moving object, through the camera head, ASIMO can identify multiple m

31、obile body, and determine its distance and direction. With the camera information, ASIMO can follow people on foot.Scene and gesture recognition, detection from image information to the location and movement, identification of gestures and movements. Not only can recognize voice commands, also can m

32、ake other peoples natural movements and react. When your hand, ASIMO will shake hands with you. When you wave, wave ASIMO will respond.第23頁(yè)/共29頁(yè)第二十三頁(yè)，共30頁(yè)。Information communicationCognitive environment, the identification of the surrounding environment, grasp the position of the obstacles, can avoid collisions and round. Suddenly appeared in front of people or other mobile obstacles when they stop, left to continue walking. In late 2005, Honda published in the new technology to improve th