 | 手掌大小的人形机器人 | | |
|---|
A Humanoid robot is one of the most intelligent robots in the world. It is designed to work and cooperate with human beings and even for entertainment. For those entertainment based humanoid robots, they are usually constructed by servo motors with a similar joint configuration as humans. The height of those humanoid robots is usually above 30 cm with a weight of over 1kg. Because of these constraints, it is not convenient for a user to bring it out for entertainment.
To development a humanoid robot, motion planning with balance control is an important task. Gait generation is a typical example and the most common approach for motion planning is the concept of inverse kinematics. The inverse kinematics utilized traditionally is 2-dimensional (2-D) only. In fact, motions of a humanoid robot are 3-dimensional (3-D), and the use of inverse kinematics should also be 3-D.
Recently, sign language is commonly used as communication language for auditory handicapped people. It can also be an effective way of communication between humans and robots or even between auditory handicapped people and robots. Some wearable electronic technologies that recognize and translate sign language into spoken English have been proposed. Although the proposed systems can recognize sign language, the wearing of gloves is not convenient for daily application.
Our goal in this project is to develop a mini-humanoid robot with a capability for transformation, 3-D motions planning with balance control, and effective real-time hand sign recognition system. The research issues in this project include (1) what type, how many, and how to design the joints configuration for a mini-sized humanoid robot; (2) how to perform the transformation for further size reduction by folding; (3) how to generate joints trajectory automatically in order to perform the 3-D robotic motions like walking and balance control; (4) how to develop a mini-sized balance system to provide the mini-humanoid robot with a motion stability; and (5) how to design a fast and accurate vision system for the communication between a user and the humanoid robot.
With the rapidly expansion of technology, size of modern actuators, sensors and controllers are highly reduced. We can expect that the development of mini-sized humanoid robots is a tendency towards entertainment based household robot. At the same time, the relationship between humans and robots will be enhanced because of the improvements in the size, functions and level of intelligence of humanoid robots.
| Key Investigators: Yangsheng Xu, Wing Kwong Chung |
| | 相关内容 | | 人形机器人是现今世界其中一种高度智能的机器人, 它们的设计目的在于进行以及帮助人类的工作，甚至被应用于娱乐方面。在娱乐方面的人形机器人, 它们一般以伺服马达作为动力, 其具有与人类相似的关节排列。它们一般高于30cm和重达1公斤, 身高以及重量的限制导致在人机交互娱乐方面产生难题。
另外在发展人形机器人方面, 具平衡控制的行为规划是一项重要工作, 其中以二维空间的反向关节来编写机器人的步履为最典型的例子。事实上, 机器人的运动仍三维运动, 反向关节的应用同样应该是三维的。
近几年, 手语已发展成作为与聋哑人士沟通的方法, 甚至成为人类与机器人的沟通方法。为此, 一些穿戴式的手语识别系统亦跟随发展, 尽管这些技术能对手语进行识别, 穿戴式的工具对实际应用方面往往会做成不便。
这个项目的目标是开发一个具有变形能力的人形机器人，它可以作为新一代的智能型玩具。它的身高和重量分别为185mm和500g,它采用了微形伺服马达作为动力,令它比一般现有的人形机器人少接近一半。同时它采用了拥有内置平衡系统来提高运动时的稳定性。它采用了三维反向关节来进行运动计划, 并加入一个非穿戴式的手语识别系统。这个项目的研究重点主要包括以下几个方面：
（1）机械计器。
（2）变形系统。
（3）机器人的运动规划。
（4）平衡系统。
（5）非穿戴式的人机交互的手语识别系统。
随住科技的日新月异, 不论马达, 传感器和驱动器都以微型化为主流, 我们亦展望作为娱乐用的人型机器人都会以微型作为新趋势.。同样地, 随住人型机器人的微型化及智能, 人与机器人的关系亦会变得更加密切。
|
|
