A humanoid robot is a robot with its body shape built to resemble the human body. The design may be for functional purposes, such as interacting with human tools and environments, for experimental purposes, such as the study of bipedal locomotion, or for other purposes. In general, humanoid robots have a torso, a head, two arms, and two legs, though some forms of humanoid robots may model only part of the body, for example, from the waist up. Some humanoid robots also have heads designed to replicate human facial features such as eyes and mouths. Androids are humanoid robots built to aesthetically resemble humans.
Passive dynamics refers to the dynamical behavior of actuators, robots, or organisms when not drawing energy from a supply. Depending on the application, considering or altering the passive dynamics of a powered system can have drastic effects on performance, particularly energy economy, stability, and task bandwidth. Devices using no power source are considered "passive", and their behavior is fully described by their passive dynamics.
SIGMO stands for Synthetic, IntelliGent, MObility, and was developed by a team of high school students to demonstrate the capabilities of passive-dynamic actuation techniques.
The technology used to enable SIGMO to walk is being applied to advanced prosthetic devices. Current prosthetic devices are nearing the limitations of the available technologies and require advancements such as customized motion, lower cost, and the development of light-weight materials.
Existing humanoid robot systems such as ASIMO and QRIO use many motors to achieve locomotion. These motors reduce efficiency and add unnecessary weight and cost to the robot. SIGMO attempts to alleviate these symptoms by providing a system which uses no motors for locomotion, instead employing passive-dynamic technology.
ASIMO is a humanoid robot created by Honda in 2000. It is currently displayed in the Miraikan museum in Tokyo, Japan.
QRIO was a bipedal humanoid entertainment robot developed and marketed by Sony to follow up on the success of its AIBO entertainment robot. QRIO stood approximately 0.6 m tall and weighed 7.3 kg. QRIO's slogan was "Makes life fun, makes you happy!"
Motion planning is a term used in robotics is to find a sequence of valid configurations that moves the robot from the source to destination.
Passive-dynamic systems cite low power consumption, high durability, and low cost. The design is based on the skeletal structure of the human body, consisting of two legs with hip, knee, and ankle joints, each representing 1 degree of freedom (DOF). Movement is accomplished with the aid of gravity (walking down a slope) or by minimal actuation to enable the machine to walk on level ground. SIGMO was developed using proven methods of gravity-driven passive dynamic bipeds. Small actuators were added to the legs to provide walking capability on level ground.
The human body is the structure of a human being. It is composed of many different types of cells that together create tissues and subsequently organ systems. They ensure homeostasis and the viability of the human body.
Gravity, or gravitation, is a natural phenomenon by which all things with mass or energy—including planets, stars, galaxies, and even light—are brought toward one another. On Earth, gravity gives weight to physical objects, and the Moon's gravity causes the ocean tides. The gravitational attraction of the original gaseous matter present in the Universe caused it to begin coalescing, forming stars—and for the stars to group together into galaxies—so gravity is responsible for many of the large-scale structures in the Universe. Gravity has an infinite range, although its effects become increasingly weaker on farther objects.
This method of locomotion is very energy efficient because it uses no motors for walking. The omission of motors also cites a drastic weight reduction, further enhancing the locomotive efficiency. This also frees up room inside the torso for the circuitry that controls SIGMO's movements, unlike other robots that require a "backpack" like attachment.
SIGMO has an upper torso which mimics the movements of actual humans. The arms are motorized with small servo motors which enable SIGMO to manipulate objects within its grasp. The main chassis is fabricated of aluminum sheet metal, which has a high strength and light weight. The knee sockets are fabricated out of steel and aluminum. While the steel weighs more than the aluminum, this helps to transfer the weight load from the torso (contains heavy servo components) to the legs and feet which rest on the ground.
In humans and other primates, the knee joins the thigh with the leg and consists of two joints: one between the femur and tibia, and one between the femur and patella. It is the largest joint in the human body. The knee is a modified hinge joint, which permits flexion and extension as well as slight internal and external rotation. The knee is vulnerable to injury and to the development of osteoarthritis.
Steel is an alloy of iron and carbon, and sometimes other elements. Because of its high tensile strength and low cost, it is a major component used in buildings, infrastructure, tools, ships, automobiles, machines, appliances, and weapons.
In control engineering a servomechanism, sometimes shortened to servo, is an automatic device that uses error-sensing negative feedback to correct the action of a mechanism. It usually includes a built-in encoder or other position feedback mechanism to ensure the output is achieving the desired effect.
An updated model of SIGMO, currently in the research and development stage, will incorporate more precise control over limb movement and directional stability. To add more functionality SIGMO will have more motors, but use each more efficiently than previous designs. Knowledge of actuation techniques gained from previous experiments will be applied to reduce complexity and maintain an efficient method of locomotion. A framework is in development to allow multiple configurations of the robot to lower production costs over time and increase flexibility of design during testing. The robust internal skeleton will be modifiable to serve as a platform for future designs. Intelligent maneuvering will also be tested with the new prototype to develop efficient algorithms and control models for both simple and complex environments.
The skeleton is the body part that forms the supporting structure of an organism. It can also be seen as the bony frame work of the body which provides support, shape and protection to the soft tissues and delicate organs in animals. There are several different skeletal types: the exoskeleton, which is the stable outer shell of an organism, the endoskeleton, which forms the support structure inside the body, the hydroskeleton, a flexible skeleton supported by fluid pressure, and the cytoskeleton present in the cytoplasm of all cells, including bacteria, and archaea. The term comes from Greek σκελετός (skeletós), meaning 'dried up'.
In mathematics and computer science, an algorithm is a sequence of instructions, typically to solve a class of problems or perform a computation. Algorithms are unambiguous specifications for performing calculation, data processing, automated reasoning, and other tasks.
In medicine, a prosthesis or prosthetic implant is an artificial device that replaces a missing body part, which may be lost through trauma, disease, or a condition present at birth. Prostheses are intended to restore the normal functions of the missing body part. Amputee rehabilitation is primarily coordinated by a physiatrist as part of an inter-disciplinary team consisting of physiatrists, prosthetists, nurses, physical therapists, and occupational therapists. Prostheses can be created by hand or with Computer-Aided Design (CAD), a software interface that helps creators design and analyze the creation with computer-generated 2-D and 3-D graphics as well as analysis and optimization tools.
GuRoo is a humanoid robot developed at the Mobile Robotics Laboratory in the School of Information Technology and Electrical Engineering at the University of Queensland. The design of the GuRoo is based on the human form and it is kept as anthropomorphic as possible. GuRoo is completely autonomous. It is used for research in different areas including dynamic stability, human-robot interaction and machine learning. GuRoo competes in the annual RoboCup. The goal of this competition is to foster the development of robotics through an annual soccer competition. It is the dream of the RoboCup federation to develop a team of fully autonomous humanoid robots, to play against and beat the human team that wins the World Cup in the year 2050.
Robot locomotion is the collective name for the various methods that robots use to transport themselves from place to place.
Biomechatronics is an applied interdisciplinary science that aims to integrate biology, mechanics, and electronics. It also encompasses the fields of robotics and neuroscience. Biomechatronic devices encompass a wide range of applications from the development of prosthetic limbs to engineering solutions concerning respiration, vision, and the cardiovascular system.
In BEAM robotics, a walker is a walking machine that has a driven mode of locomotion by intermittent ground-contacting legs. They usually possess 1 to 12 motors. "Muscle wired" walkers utilizes Nitinol for its actuators.
BigDog was a dynamically stable quadruped military robot created in 2005 by Boston Dynamics with Foster-Miller, the NASA Jet Propulsion Laboratory, and the Harvard University Concord Field Station. It was funded by DARPA, but the project was shelved after the BigDog was deemed too loud for combat.
The P series is a chronological progression of prototype humanoid robots as developed by Honda. The research conducted allowed the eventual creation of ASIMO. Honda decided on making a humanoid robot, "ASIMO," the world's most advanced humanoid robot of its time. Honda Motor's President and CEO Hiroyuki Yoshino, at the time, described Honda's humanoid robotics program as consistent with its direction to enhance human mobility.
Legged robots are a type of mobile robot, which use articulated limbs, such as leg mechanisms, to provide locomotion. They are more versatile than wheeled robots and can traverse many different terrains, though these advantages require increased complexity and power consumption. Legged robots often imitate legged animals, such as humans or insects, in an example of biomimicry.
Neurorobotics, a combined study of neuroscience, robotics, and artificial intelligence, is the science and technology of embodied autonomous neural systems. Neural systems include brain-inspired algorithms, computational models of biological neural networks and actual biological systems. Such neural systems can be embodied in machines with mechanic or any other forms of physical actuation. This includes robots, prosthetic or wearable systems but also, at smaller scale, micro-machines and, at the larger scales, furniture and infrastructures.
Robotics is the branch of technology that deals with the design, construction, operation, structural disposition, manufacture and application of robots. Robotics is related to the sciences of electronics, engineering, mechanics, and software.
Robotics is an interdisciplinary branch of engineering and science that includes mechanical engineering, electronic engineering, information engineering, computer science, and others. Robotics deals with the design, construction, operation, and use of robots, as well as computer systems for their control, sensory feedback, and information processing.
The following outline is provided as an overview of and topical guide to robotics:
Surena is a series of Iranian humanoid robots, named after the Parthian General Surena. The Institute of Electrical and Electronics Engineers (IEEE) has placed the Surena among the five prominent robots of the world after analyzing its performance.
A powered exoskeleton is a wearable mobile machine that is powered by a system of electric motors, pneumatics, levers, hydraulics, or a combination of technologies that allow for limb movement with increased strength and endurance. Its design aims to provide back support, sense the user's motion, and send a signal to motors which manage the gears. The exoskeleton supports the shoulder, waist and thigh, and assists movement for lifting and holding heavy items, while lowering back stress.
Bio-inspired robotic locomotion is a fairly new subcategory of bio-inspired design. It is about learning concepts from nature and applying them to the design of real-world engineered systems. More specifically, this field is about making robots that are inspired by biological systems. Biomimicry and bio-inspired design are sometimes confused. Biomimicry is copying the nature while bio-inspired design is learning from nature and making a mechanism that is simpler and more effective than the system observed in nature. Biomimicry has led to the development of a different branch of robotics called soft robotics. The biological systems have been optimized for specific tasks according to their habitat. However, they are multifunctional and are not designed for only one specific functionality. Bio-inspired robotics is about studying biological systems, and look for the mechanisms that may solve a problem in the engineering field. The designer should then try to simplify and enhance that mechanism for the specific task of interest. Bio-inspired roboticists are usually interested in biosensors, bioactuators, or biomaterials. Most of the robots have some type of locomotion system. Thus, in this article different modes of animal locomotion and few examples of the corresponding bio-inspired robots are introduced.
Arm swing in human bipedal walking is a natural motion wherein each arm swings with the motion of the opposing leg. Swinging arms in an opposing direction with respect to the lower limb reduces the angular momentum of the body, balancing the rotational motion produced during walking. Although such pendulum-like motion of arms is not essential for walking, recent studies point that arm swing improves the stability and energy efficiency in human locomotion. Those positive effects of arm swing have been utilized in sports, especially in racewalking and sprinting.
Proportional myoelectric control can be used to activate robotic lower limb exoskeletons. A proportional myoelectric control system utilizes a microcontroller or computer that inputs electromyography (EMG) signals from sensors on the leg muscle(s) and then activates the corresponding joint actuator(s) proportionally to the EMG signal.
The term “Soft robots” designs a broad class of robotic systems whose architecture includes soft elements, with much higher elasticity that traditional rigid robots. Articulated Soft Robots are robots with both soft and rigid parts, inspired to the muscle-skeletal system of vertebrate animals – from reptiles to birds to mammalians to humans. Compliance is typically concentrated in actuators, transmission and joints while structural stability is provided by rigid or semi-rigid links.
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