Toward a robotic companion design

Transcription

Toward a robotic
companion design
WRUT LIREC Group
Institute of Computer Engineering, Control and Robotics,
Wrocław University of Technology,
ul. Janiszewskiego 11/17,
50–372 Wrocław, Poland
email: [email protected]
Wrocław 2008
Authors:
Krzysztof Arent
Mariusz Janiak
Jan Kędzierski
Bogdan Kreczmer
Łukasz Małek
Robert Muszyński
Adam Oleksy
Krzysztof Tchoń
Marek Wnuk
Contents
Chapter 1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
Chapter 2. Overview of social robot designs . . . . . . . . . . . . . . . . . . . . . .
9
2.1.
Mechanoid robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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2.1.1.
SPUTNIK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
2.1.2.
SR4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
2.1.3.
PeopleBot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.1.4.
Bryn Mawr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.1.5.
BIRON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.1.6.
Eldi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.1.7.
GRACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.1.8.
RoboX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.1.9.
HERMES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.1.10. uBot5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.1.11. PaPeRo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.1.12. Pearl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.2.
2.3.
2.4.
Humanoid robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.2.1.
Kaspar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.2.2.
SIG2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.2.3.
Kismet/MERTZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.2.4.
WE-4RII
2.2.5.
Toyota Rolling Robot
2.2.6.
Wakamaru . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.2.7.
EMIEW2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.2.8.
MDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.2.9.
Monty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Android robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.3.1.
BARTHOC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.3.2.
ROMAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.3.3.
Albert . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Zoomorphic robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.4.1.
iCat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.4.2.
Pleo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.4.3.
Leonardo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Chapter 3. Overview of social robot components . . . . . . . . . . . . . . . . . . . 35
3.1.
Mobile bases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Contents
3.2.
3.3.
3.4.
3.1.1.
Balancing platforms overview . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.1.2.
Concluding remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Arms and hands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.2.1.
Arms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.2.2.
Hands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.2.3.
Vision acquisition system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.3.1.
Commercial vision systems
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3.3.2.
Pan-Tilt-Zoom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.3.3.
Camera interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
3.3.4.
Sound acquisition and emission systems . . . . . . . . . . . . . . . . . . . . . . . . 60
3.4.1.
Microphones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.4.2.
Analog signal conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
3.4.3.
A/D converters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
3.4.4.
Testbed for sound acquisition system . . . . . . . . . . . . . . . . . . . . . 63
3.4.5.
Loudspeakers and power amplifiers . . . . . . . . . . . . . . . . . . . . . . 63
3.4.6.
Chapter 4. Body specification of FLASH . . . . . . . . . . . . . . . . . . . . . . . . 67
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4.1.
Basic technical features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.2.
Balancing platform Cosmos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
4.3.
Arms and hands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
4.4.
Concluding remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Chapter 1
Introduction
This report contains an overview of representative, modern designs of social robots and
their components, that has motivated the specification of a robotic companion to be
built within the LIREC project. Initially, the LIREC robotic companion should serve
as a research platform for conducting the LIREC research and experimental work. Ultimately, the robot should be converted into a long term robotic companion equipped with
memory, learning, cognitive, social, and migration capabilities. The robot specification
has been formulated by taking into consideration both the LIREC’s objectives and the
state of the art in the area of social robotics. This specification, presented in Chapter
4 of this report, is concerned mainly with the ”body” of the new robot. The robot’s
tentative name could be FLASH (Flexible LIREC Autonomous Social Helper).
The robot is to be able to perform autonomously, in stable and believable way, in selected
scenarios, e.g.:
1. Fetch and carry, the robot can accomplish the following functions:
• indoor navigation (mobile platform, bumpers, infrared and ultrasonic sensors,
laser range finders, cameras),
• reception and understanding of voice instructions (auditory system, neck, torso,
a software from INESC-ID, a software from HW),
• localising, approaching, following or leading the user (vision system, ultrasonic
and proximity sensors),
• object recognition and grasping (vision system, hands)
• expression of emotions (vision system, auditory system, face, torso, neck).
A possible experiment: the user and the robot stay in the same room, the user asks
the robot to approach, the robot turns towards the user, localises him/her, expresses
a satisfaction that it can be helpful, finds its way to the user, approaches the user,
stops (bows asking: what I can do for you?), then the user makes the robot to grasp
an object and instructs the robot to deliver the object to a given destination inside
the room, the robot follows the instruction, places the object, confirms that the task
has been done and returns to its initial localisation. A variation of this may consist
in asking the robot to go and bring a given object lying on a table.
2. Agent as cognitive prosthetic, the following activities can be done autonomously:
• indoor navigation (mobile platform, bumpers, infrared and ultrasonic sensors,
laser range finders, cameras),
• human localisation and recognition (vision system, auditory system, a software
from QM),
• searching for objects, objects recognition and grasping (vision system, hands, a
software from QM),
• voice and/or gesture communication (loudspeakers, speech synthesiser, hands,
neck, torso, a software from INESC-ID),
• expression of emotions (head, hands),
• reminding the user of some actions (Internet connection, speech synthesiser, a
software from INESC-ID).
A possible experiment: the user asks the robot of which medicines he/she should
take, the robot mentions 3 types of pills, the user asks where he/she has left these
pills, then the robot points toward the pills’ location with its hand, the user asks the
robot to bring him/her a specific box with pills, the robot moves toward the box and
Chapter 1. Introduction
brings it to the user, the user thanks the robot, the robot expresses a satisfaction of
well done service.
3. Teaching proxemic preferences, the robot should do autonomously the following:
• voice/gesture/facial expression communication (loudspeakers, speech synthesiser,
hands, head, a software from INESC-ID),
• sound direction recognition (auditory system, a software from INESC-ID),
• user’s recognition (vision system, auditory system, a software from QM),
• emotion recognition (vision system, auditory system, a software from QM, a software from HW),
• turning head (eyes) toward the user (head, vision system),
• localisation and approaching the user (mobile platform, vision system, auditory
system, ultrasonic and proximity sensors),
• instruction following (auditory system, mobile platform, hands, head, a software
from INESC-ID, a software from HW),
• migration to other embodiments (a software from UH, HW, WRUT),
• learning (all sensor systems, memory, a software from HW).
A possible experiment: 3 users define their proxemic preferences, the robot memorises
them, then one of the users asks the robot to approach him/her, the robot approaches
in accordance with the definition, but the user get frightened by the robot and
communicates using words/gestures/face expressions that the robot has approached
too closely, the robot adjusts its distance, the user praises the robot, the robot shows
its content. A version of this may consists in shouting at the robot that gets too close
to the user, the robot shows a shame, apologises, and adjusts its position. Another
version involves a migration: the users communicate their preferences to robot1,
then robot1 migrates to robot2, much bigger or uglier whose close presence cannot
be tolerated anymore, so an adjustment of proxemic data must be made.
4. Traveller’s companion This scenario includes many elements of the previous scenarios accomplishable in an autonomous way.
As we have already said, our prospective objective is to design a socially interactive
robot whose behaviour (e.g. cues provided by gestures, face expression, and body language) is stable and highly believable. In order to achieve this objective, the mechanical
and control system design of FLASH will make use of the research results obtained
at WRUT. In the design process a contribution from other partners, concerned with
psychological, ethological, and embodiment issues will be of fundamental significance.
Taking into account the scenario requirements, and referring to a feasibility study based
on an overview of social robotic designs presented in this report, we have derived the
following characterisation of FLASH:
FLASH is a mechanoid robot, designed to accompany a human. This is a mobile robot
mounted on a balancing wheeled mobile platform. The robot’s body consists of a torso,
a pair of hands, a neck, and a head. FLASH is able to navigate autonomously through
the home space, and safely approach people. It has advanced interaction capabilities
with the external world, such as object detection, people recognition as well as auditory,
visual, and gesture communication skills. The robot will also be able to accomplish some
limited grasping/manipulation. The FLASH’s control system is based on a network of
microcontrollers, DSPs, and PCs running Linux. Its control algorithms unify classical
and intelligent control strategies. A fast Internet connection will provide the robot with
a constant link to the electronic world. The robot’s design complies with its role in
robotic performance scenarios realised in LIREC’s showcases. As a result of the research
collaboration within the LIREC consortium, the robot will meet the requirements of a
long term robotic companion. The robot’s design will have remarkable flexibility and
openness. Its software is intended to be totally open source. FLASH is going to be a
low-cost, completely EU design.
The robot architecture admits agents distributed among several computers which can
communicate with each other wirelessly by means of YARP (Yet Another Robotic Plat-
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form). This will make the robot a testing platform, open for contributions from other
partners.
This report is composed in the following way. The next chapter presents a social robots
panorama. Chapter 3 makes a review of social robot components. Special attention is
paid to mobile platforms and hands as well as a vision and auditory equipment. The
content of chapters 2 and 3 fosters a kind of feasibility study of a robotic companion
hardware. This results in the specification of the robot FLASH provided in chapter 4.
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Chapter 2
Overview of social robot designs
This chapter makes an overview of 27 contemporary robot designs, manifesting social
capabilities. Below we present not only purely social robot constructions, but also the
robots whose behaviour contains social elements or may serve as an inspiration for social
robot designers. Among these 28 robots 6 come from Japan, 12 from US, and 7 have
been elaborated in EU.
The robots have been divided into 4 categories, based on their appearance: mechanoid
(12), humanoid (9), android (3), and zoomorphic (3). In the overview we have purposely
omitted walking robots (like Asimo, Qrio, Feelix, iCub), actroids (like Geminoid HI-1,
DER2, Saya). Also, we have not included the classical, ancestor designs like Shakey,
Flakey and Cog.
2.1. MECHANOID ROBOTS
2.1.1. SPUTNIK
General description
SPUTNIK is a small, portable mobile platform designed for research applications in
human-robot interactions, navigation, image processing and recognition, teleoperation,
remote sensing, etc. The robot may also serve to develop robotic assistants or service
units. The robot is presented in figure 2.1.
Specific features
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Manufacturer: Dr Robot Inc., Canada,
Web: http://www.drrobot.com/products$\-$item.asp?itemNumber=SPUTNIK,
Purpose: research platform,
Appearance: mechanoid,
Mobility: wheeled mobile platform,
Physical parameters: height 0.47m, diameter 0.40m, weight 6.1kg, speed 1m/s,
Components: mobile platform, neck, head,
Scene detection: vision camera, infrared and ultrasonic sensors, pyroelectric human
motion sensor, audio modules,
Robot-human communication: audio signals, movable head, eyes, and lips,
Autonomy: indoor navigation,
Control system: onboard DSP, external PC running Windows or Linux,
Openness of design: yes,
Availability, price: on sale, EUR 2987.
2.1.2. SR4
General description
The robot SR4 is a commercial mobile robot that may serve as an educational or an
application development platform. SR4 can be customised with user’s hardware and
software. The robot is presented in figure 2.2.
Chapter 2. Overview of social robot designs
2.1. Sputnik
Specific features
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Manufacturer: Smartrobots Inc., US,
Web: http://www.smartrobots.com,
Purpose: education/application development platform,
Physical parameters: height 0.9m, diameter 0.45m, max speed 0.3m/s,
Components: mobile platform, body,
Scene detection: ultrasonic sonar, infrared sensors, vision cameras, proximity sensors, position triangulation system,
Robot-human communication: microphone, loudspeakers, touchscreen, speech
synthesiser,
Autonomy: point-to-point motion, collision avoidance, navigation,
Control system: a RISC machine running Linux,
Availability, price: on sale, SR4-P costs USD 4495-5395.
2.1.3. PEOPLEBOT
General description
This robot provides a mobile platform for service or performance robots in many application areas. The robot has a capability of indoor navigation, is equipped with a number
of sensors, and a gripper. Employed as a mobile platform, a.o. in BIRON and Bryn
Mawr robots described below. The robot is presented in figure 2.3.
Specific features
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Manufacturer: MobileRobots, US,
Web: http://www.activrobots.com/ROBOTS/peoplebot.html,
Purpose: service and performance mobile platform,
Physical parameters: height 1.1m, width 0.47m, depth 0.38m, safe speed 0.8m/s,
Components: mobile base (lower platform), body, upper platform,
Scene detection: ultrasonic sonars, infrared sensors, microphones, laser range
finder, cameras,
Robot-human communication: microphones, loudspeakers, LEDs, voice recognition system, stereovision system, touchscreen, gripper,
2.1. Mechanoid robots
2.2. Robots from SR4 family
2.3. PeopleBot
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2.4. Bryn Mawr Tour Guide
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Autonomy: indoor navigation, collision avoidance,
Control system: onboard RISC controller, optional onboard computer running
Linux or Windows,
Openness of design: limited,
Availability, price: on sale EUR 24000.
2.1.4. BRYN MAWR
General description
The Bryn Mawr Tour Guide is another robot built on the basis of the PeopleBot. An
extra equipment includes a sensitive microphone and loudspeakers. The robot’s architecture consists of 3 basic systems: navigation, localisation, and voice communication.
The robot is presented in figure 2.4.
Specific features
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Manufacturer: Bryn Mawr College, US,
Web: http://cs.brynmawr.edu/TourGuide/,
References: C. Chiu, The Bryn Mawr tour guide robot, PhD Thesis, http://cs.
brynmawr.edu/TourGuide/finished.html,
Components: PeopleBot, camera,
Scene detection: microphones, laser range finder, sonars, cameras,
Robot-human communication: microphones, loudspeakers, speech recognition
and synthesis, dialoguing, carrying out voice requests,
Autonomy: indoor navigation, collision avoidance,
Control system: as PeopleBot,
Openness of design: none,
Availability, price: unavailable.
2.5. BIRON
2.1.5. BIRON
General description
BIRON has been dedicated to the investigation of human-robot interactions. The interaction begins with the identification by the robot of a potential interlocutor. Then the
robot focuses attention on him/her, and starts a dialogue. The robot’s appearance is not
of primary importance; BIRON has been built onboard of the PeopleBot mobile platform, and uses the PeopleBot’s navigation system. The robot is presented in figure 2.5.
Specific features
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Manufacturer: University of Bielefeld, Germany,
Web: http://www.techfak.net/ags/ai/projects/BIRON/welcome.html,
References: A. Haasch, et al., BIRON – The Bielefeld robot companion, http:
//www.techfak.net/ags/ai/publications/papers/Haasch2004-BTB.ps.gz,
Purpose: robot companion,
Components: PeopleBot, touchscreen, camera,
Scene detection: stereo microphones, laser range finder, sonars, cameras, touchscreen,
and understanding, dialoguing, people tracking, carrying out voice requests,
Autonomy: indoor navigation, collision avoidance, people tracking,
Control system: as PeopleBot,
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2.6. Eldi
2.1.6. ELDI
General description
The robot Eldi was built at the University of Las Palmas, Gran Canaria, Spain. Since
1999 the robot has been a main attraction of the Elder Museum of Science and Technology at Las Palmas. The robot’s body consists of two components: the commercial mobile
platform Nomadics XR4000 that provides Eldi with basic mobility and sensoric capabilities, and the torso that contains a control system, a radio communication system, a
vision system, a system of sound and picture transmission, a touchscreen, a microphone,
and loudspeakers. The torso is equipped with a head mounted on a 2 DOF neck. The
robot is presented in figure 2.6.
Specific features
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Manufacturer: University of Las Palmas, Gran Canaria, Spain,
Web: http://mozart.dis.ulpgc.es/eldi/home2.html,
References: M. Castrillon Santana, et al., Eldi’s activities in a museum, http:
//citeseerx.ist.psu.edu/viewdoc/summary?doi10.1.1.26.9290,
Purpose: museum guide,
Mobility: 4 wheel mobile platform, holonomic,
Physical parameters: height 1.6m,
Components: mobile platform, torso, head,
Scene detection: vision system, ultrasonic sonars, infrared and tactile sensors,
radiophares, laser detectors,
Robot-human communication: touchscreen, microphone, loudspeakers, speech
recognition and synthesis, face recognition, movable head,
Autonomy: localisation, point-to-point motion, collision avoidance,
Control system: a network of PCs running Windows and Linux,
2.7. Grace
2.1.7. GRACE
General description
GRACE (Graduate Robot Attending ConferencE) is a robot whose main task consists
in attending conferences, registering the conference events, and interacting with humans
using a voice communication system. The robot has been mounted on the mobile platform B21 built by RWI. GRACE distinguishes itself by a graceful, animated female
face that shows up on an LCD screen, and serves for expressing robot’s emotions. A
coordination of the speech with movements of the lips increases the impressiveness of
GRACE. A male companion called GEORGE has also been designed. The robot is
presented in figure 2.7.
Specific features
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Manufacturer: Carnegie Melon University, Naval Research Laboratory, Northwestern University, Metrica Inc., Swarthmore College, US,
Web: http://www.ri.cmu.edu/projects/project_522.html,
References: R. Simmons, et. al., GRACE: An autonomous robot for the AAAI
robot challenge, http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.
61.1464,
Purpose: conference robot,
Mobility: 4 wheel mobile platform,
Physical parameters: height 1.6m, weight 150kg, max speed 0.9m/s,
Components: mobile platform, torso, LCD screen,
Scene detection: vision system, ultrasonic sonars, infrared and tactile sensors, laser
range finder,
Robot-human communication: microphone, loudspeakers, LCD screen, animated face, emotion expression, speech recognition and synthesis, voice-lips coordination,
Autonomy: localisation, point-to-point motion, collision avoidance, carrying out
voice requests,
Control system: a network of processors running Linux, a laptop running Windows
for speech recognition,
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2.8. RoboX
2.1.8. ROBOX
General description
RoboX is a typical example of a guide robot whose function consists in a voice communication with humans. The main task of RoboX has been guiding exhibition visitors in
accordance with their expectations and an established visit programme. The robot can
speak English, German, French and Italian. The design of RoboX has been adapted to
the navigation in crowded places. The robot is presented in figure 2.8.
Specific features
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Manufacturer: Federal Institute of Technology, BlueBoticsSA, Switzerland,
Web: http://www.bluebotics.com/entertainment/RoboX,
Purpose: exhibition robot,
Components: mobile platform, slim torso, head with eyes,
Scene detection: vision cameras, laser scanner, tactile plates, foam bumpers,
Robot-human communication: microphone, loudspeakers, LED matrix, keyboard, movable eyeballs and eyebrows, face tracking and recognition,
Autonomy: point-to-point motion, collision avoidance, navigation, object localisation, people tracking,
Availability, price: on sale EUR 48500, also for hire EUR 6000/day.
2.1.9. HERMES
General description
HERMES is a combination of the mobile platform Athene II and manipulators not
requiring calibration. Similarly to humans, HERMES receives information from the
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2.9. Hermes
external world through 4 sensoric channels: vision, auditory, kinesthetic and tactile.
The robot is able to explore the environment or to carry out human’s requests, like
bringing a glass of water from the kitchen or delivering a book to the library. An
Internet connection enables HERMES to inform the human on the current date, time,
or weather conditions. The questions and requests are received by the robot via a voice
interface accepting English, German or French. The robot is presented in figure 2.9.
Specific features
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Manufacturer: Munich University, Germany,
Web: http://www.uniwbw.de/robotics/robots/hermes/,
References: R. Bischoff, V. Graefe, HERMES - a versatile personal robotic assistant, Proc. IEEE, a special issue on Human Interactive Robots for Psychological
Enrichment, pp. 1759-1779, 2004,
Purpose: service robot,
Mobility: 4 wheel mobile platform, holonomic,
Physical parameters: height 1.85m, width 0.7m, depth 0.7m, weight 250kg,
Components: mobile platform, torso, hands, head,
Scene detection: stereovision and tactile sensors,
Robot-human communication: microphone, loudspeakers, speech recognition
and synthesis, gestures, head movements, acceptable as a friendly partner,
Autonomy: point-to-point motion, collision avoidance, navigation, map building,
indoor exploration,
Control system: a multiprocessor system including PCs and DSPs,
17
2.10. uBot5
2.1.10. UBOT5
General description
This is the latest member of the uBot family of small research platforms designed for
mobile manipulation. uBot5 moves on a balancing wheeled platform. The robot has
been equipped with an LCD touchscreen and a webcam, and used for telepresence applications. The robot is presented in figure 2.10.
Specific features
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Manufacturer: University of Massachusetts, Amherst, US,
Web: http://www-robotics.cs.edu/Robots/UBot-5,
References: P. Deegan, et al., Designing a self-stabilising robot for dynamic mobile manipulation, Robotics: Science and Systems - Workshop on Manipulation for
Human Environments, Philadelphia, Pennsylvania, 2006,
Purpose: mobile manipulation,
Mobility: self-balancing mobile platform, nonholonomic,
Physical parameters:
Components: mobile platform, body, hands, LCD screen,
Scene detection: webcam,
Robot-human communication: touchscreen,
Autonomy: indoor navigation, manipulation,
2.1.11. PAPERO
General description
An amiable jabbering robot intended to be a partner and a human domestic companion.
When not talking, the robot starts wandering around the room. The robot is capable of
interacting with humans, learning, and shaping its character. If greatly praised, PaPeRo
may begin to dance, it can also express its feelings by dancing. PaPeRo can transmit
the information found on the Internet, switch on and off household appliances, and be
a partner in several games. The robot is presented in figure 2.11.
18
2.11. PaPeRo
Specific features
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Manufacturer: NEC Corporation, Japan,
Web: http://nec.co.jp/robot/english/intro/intro01.html,
Purpose: robotic companion,
Physical parameters: height 0.385m, width 0.248m, depth 0.245m, weight 5kg,
max speed 0.2m/s,
Components: mobile platform, torso, head,
Scene detection: microphone, CCD cameras, ultrasonic sonars, infrared sensor,
Robot-human communication: microphone, loudspeaker, LEDs, sound detection and recognition, face detection, identification and tracking, speech recognition,
expressive dance,
Autonomy: indoor wandering, people following, various spontaneous activities,
Availability, price: on sale USD 41000.
2.1.12. PEARL
General description
Pearl is a robot developed within the project “PERSONAL ROBOTIC ASSISTANTS
FOR THE ELDERLY” to provide a social robot capable to perform home-care of elderly
people. The main tasks of robot are: intelligent reminding, tele-presence, social interactions. The robot performances were tested while interacting with elderly residents of
retirement community centres. The robot is presented in figure 2.12.
Specific features
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Manufacturer: Carnegie Mellon University, US,
Web: http://www.cs.cmu.edu/~nursebot,
References: M. Bennewitz, et al., Learning Motion Patterns of Persons for Mobile
Service Robots, Proc. Int. Conf. on Robotics and Automation (ICRA), Washington,
DC, pp. 3601-3606, 2002, M. Montemerlo, et al., Experiences with a mobile robotic
guide for the elderly, Proc. 18th National Conf. on Artificial Intelligence (AAAI-02),
pp. 587-592, 2002,
Purpose: social robot,
19
2.12. Pearl and Flo
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Mobility: wheeled mobile platform, nonholonomic
Components: mobile platform, body, head, touchscreen,
Scene detection: proximity sensors, microphones, vision system,
Robot-human communication: speech recognition and synthesis, motion detection,
Autonomy: point-to-point motion, collision avoidance, navigation, object localisation, people tracking,
Control system: 2 single board computers (PCM-5864) plus 2 PCs,
2.2. HUMANOID ROBOTS
2.2.1. KASPAR
General description
Kaspar (Kinesics and Synchronisation in Personal Assistant Robotics) is a humanoid
robot developed at the University of Hertfordshire. The robot has an 8 DOF head and
neck, and is able to move its hands. Its face is a silicon-rubber mask, equipped with 2
DOF eyes fitted with video cameras, and a mouth capable of opening and smiling. The
Specific features
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Manufacturer: University of Hertfordshire, UK,
Web: http://kaspar.feis.herts.ac.uk/,
Purpose: human-robot interactions, autism therapy,
Appearance: humanoid,
Mobility: none,
Physical parameters: child-sized,
Components: torso, legs, hands, neck, head,
Scene detection: microphone, cameras,
Robot-human communication: facial expressions,
Autonomy: none,
2.2. Humanoid robots
2.13. Kaspar
2.14. SIG i SIG2
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Control system: network of microcontrollers, PC running Windows,
2.2.2. SIG2
General description
SIG2 is a humanoid robot intended as a research platform dedicated to the investigation
of human-robot interactions. The robot is an improved version of the robot SIG designed
within the Kitano Symbiotic System Project. The modifications are concerned mainly
with the sound acquisition and recognition system, and have been achieved by equipping
the robot with a soft skin, re-shaping the ears, eliminating resonances of the casing, and
muffling the drive system. The robot is presented in figure 2.14.
Specific features
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Manufacturer: Kyoto University, Japan,
Web: http://www.symbio.jst.go.jp/symbio/SIG/,
References: H. G. Okomo, et al., Social interaction of humanoid robot based on
audio-visual tracking, Proc. 18th Int. Conf. on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, Lecture Notes in AI, Springer-Verlag, Cairns, Australia, 2002,
21
2.15. Kismet
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Mobility: none,
Components: stationary base, torso, hands, head,
Scene detection: CCD cameras, microphones,
and synthesis, face recognition, dialoguing,
Autonomy: auditory and visual object tracking,
2.2.3. KISMET/MERTZ
General description
Kismet is an expressive robot constructed in the Artificial Intelligence Lab of MIT for the
investigation of human-robot interactions at the level of infant - caretaker. Essentially,
the robot consists of a head mounted on a stationary base. It has been endowed with
communication channels resembling those of humans: visual, auditory, and proprioceptive. In reaction to its environment the robot can show emotions ranging from calm to
disgust, and from sad to surprise. Kismet can also talk with humans, adjust its gaze
direction and its head orientation. While talking the robot recognises the intentions
of the human. The robot is presented in figure 2.15. MERTZ is a Kismet’s successor,
with aesthetic face and more efficient control systems, equipped with new learning and
human recognition capabilities. MERTZ can also mimic the human behaviour, and show
its attitude toward humans. The robot is presented in figure 2.16.
Specific features
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Manufacturer: MIT, US,
Web: http://www.ai.mit.edu/projects/humanoid-robotics-group/kismet and
www.people.csail.mit.edu/lijin/robot.html,
References: C. L. Breazeal, Designing Sociable Robots, MIT Press, Cambridge,
Mass., 2002,
2.16. MERTZ
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Mobility: none,
Physical parameters: infant’s head,
Components: base, neck, head,
Scene detection: vision system, auditory system,
Robot-human communication: microphone, loudspeakers, facial expressions, vocalisation, gaze direction, head orientation, dialoguing,
Autonomy: detection and reaction to objects in the scene,
Control system: a network including Motorola 68332 microprocessors and PCs
running QNX, Linux and Windows NT,
2.2.4. WE-4RII
General description
The Waseda WE-4RII robot (Waseda Eye No.4 Refined II) belongs to the emotion
expression humanoid robots family constructed at the Waseda University. The robot
consists of a movable torso equipped with a pair of hands and a head mounted on a 4
DOF neck. A distinguished feature of the robot is that its face is able to blush. The
robot has a remarkably reach collection of sensors, including visual, auditory, tactile,
23
2.17. WE-4RII
temperature, and olfactory. WE-4RII has been devised to develop new mechanisms and
functionalities for naturally communicating humanoid robots. The robot is presented in
figure 2.17.
Specific features
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Manufacturer: Waseda University, Japan,
Web: http://www.takanishi.mech.waseda.ac.jp/research/we/we-4rII/
index.htm,
References: H. Miwa, et al., Effective Emotional Expressions with, Emotion Expression Humanoid Robot WE-4RII, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2203-2208, 2004
Mobility: none,
Physical parameters: height 0.97m, weight 59.3kg,
Components: torso, hands, neck, head,
Scene detection: vision, auditory, tactile, olfactory systems,
Robot-human communication: loudspeaker, facial expressions, gesticulation, determination of the sound direction, blushing,
Autonomy: detection and reaction to objects in the scene,
Control system: 3 PCs running Windows,
2.2.5. TOYOTA ROLLING ROBOT
General description
This is a representative of 3 Toyota partner robots, endowed with humanoid features
such as agility and kindness, as well as an ability to skilfully operate diverse devices and
play the role of a personal assistant. The rolling robot moves on a balancing platform,
and has artificial lips and dextrous hands enabling the robot to play musical instruments
(trumpet, violin). The robot is presented in figure 2.18.
Specific features
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Manufacturer: Toyota Motor Corporation, Japan,
Web: http://www.toyota.co.jp/en/special/robot/,
Purpose: partner robot,
2.18. Toyota Robots
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Mobility: balancing platform,
Physical parameters: height 1m, weight 35 kg,
Components: mobile base, torso, hands, head,
Scene detection: automotive technology sensors,
Robot-human communication:,
Autonomy: indoor navigation, manipulation,
2.2.6. WAKAMARU
General description
Wakamaru has been devised to live with humans as a robotic companion. The robot acts
in accordance with the home schedule that it learns from the observations of inhabitants,
and actively engages itself into a conversation. Wakamaru’s appearance mimics that of
a 12th century Japanese warrior Ushiwakamaru. The robot is equipped with a pair
of 4 DOF hands and a head moved by a 3 DOF neck. It can be a home guard, that
in emergency is able to call for help or contact the owner via Internet. Thanks to a
sophisticated equipment Wakamaru is completely autonomous. The robot is presented
in figure 2.19.
Specific features
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Manufacturer: Mitsubishi Heavy Industries, Ltd. Japan,
Web: http://www.mhi.co.jp/kobe/wakamaru,
Physical parameters: height 1m, diameter 0.45m, weight 30kg, max speed 1km/h,
Scene detection: omni-direction and front cameras, microphones, touch/force sensors, ultrasonic sonars, infrared sensors,
Robot-human communication: microphones, loudspeakers, eye expressions, face
detection and recognition, voice recognition, speech synthesis,
Autonomy: point-to-point motion, collision avoidance, indoor navigation, people
following,
Control system: a multiprocessor configuration under Linux,
25
2.19. Wakamaru
2.20. EMIEW and EMIEW2
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Availability, price: can be hired for USD 1000/day.
2.2.7. EMIEW2
General description
The robot EMIEW2 has been devised as an assistant for humans and it is a successor of
EMIEW. Its characteristic component is a self-balancing mobile platform enabling the
robot to move fast and agile. EMIEW2 can localise and recognise voice signals as well
as communicate with humans by means of speech and gestures. The robot is presented
in figure 2.20.
Specific features
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Manufacturer: Hitachi, Japan,
References: http://www.hitachi.com/rd/research/emview2$_$01.html,
2.21. MDS
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Mobility: self-balancing mobile platform, wheeled-leg mechanism,
Physical parameters: height 0.8m, width 0.3m, depth 0.25m, weight 70kg, max
speed 6km/h,
Scene detection: vision cameras, microphone array, laser range finder,
Robot-human communication: microphones, loudspeakers, localisation of voice
signal source, speech recognition and synthesis, dialoguing, face recognition, gestures,
Autonomy: point-to-point motion, path following, collision avoidance, navigation
in populated places,
2.2.8. MDS
General description
This robot has been designed at MIT Media Laboratory for the purpose of supporting
research and education in the area of human-robot interaction and social learning. The
robot distinguishes itself by technological refinement, high manufacturing precision and
aesthetic appearance. MDS (Mobile, Dextrous, Social) moves on a dynamically balancing platform, has dextrous hands, and a head with expressive face. The design is being
developed toward incorporating mobility, manipulability, advanced communication, and
interaction capabilities with humans. The robot is presented in figure 2.21.
Specific features
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Web: http://robotic.media.mit.edu/projects/robots/mds/overview/
overview.html,
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2.22. Monty
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Mobility: balancing mobile platform,
Physical parameters: as 3 year old child,
Components: mobile platform, torso, hands, neck, head,
Scene detection: visual, auditory and tactile systems, laser range finder, capacitive
sensing of humans,
Robot-human communication: gestures, posture, facial expressions, speech synthesis,
Autonomy: point-to-point motion, path following, collision avoidance, navigation,
Control system: onboard DSPs and FPGAs, external PCs running Linux,
2.2.9. MONTY
General description
The robot Monty belongs to a family of humanoid robots recently launched by Anybots,
Inc. Monty is intended to be a robotic servant, able to wash dishes or serve a cup of
coffee. The robot is shown in figure 2.22.
Specific features
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Manufacturer: Anybots, Inc., Mountain View, CA, US,
Web: http://anybots.com/,
Purpose: robotic servant,
Mobility: 2 wheel, balancing,
Physical parameters: height 1.70m, weight 72kg,
Components: mobile base, torso, 2 arms, head,
Scene detection: no data available,
Robot-human communication: no data available,
Autonomy: balancing,
Control system: remote control,
2.3. Android robots
2.23. BARTHOC
2.3. ANDROID ROBOTS
2.3.1. BARTHOC
General description
BARTHOC (Bielefeld Anthropomorphic RoboT for Human-Oriented Communication)
serves the purpose of the investigation of social and emotional factors in the human-robot
interactions. The robot is able to conversate, carry out requests, and react to gestures.
Its designers put special attention to the development of robot’s communication capabilities. As a result, BARTHOC can not only receive verbal messages, but also estimate
the interlocutor’s emotions. The robot is presented in figure 2.23.
Specific features
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Manufacturer: University of Bielefeld, Germany,
Web: http://aiweb.techfak.uni-bielefeld.de/node/393,
References: M. Hackel, et al., Designing a sociable humanoid robot for interdisciplinary research, Adv. Robotics, 20(11), pp. 1219-1235, 2006,
Appearance: android,
Mobility: none,
Physical parameters: human size,
Components: torso, hands, neck, head with face,
Scene detection: microphone, vision cameras,
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2.24. ROMAN
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Robot-human communication: microphone, loudspeakers, facial expressions,
speech recognition and synthesis, dialoguing, gesture recognition, people detection,
selection of the communication partner, carrying out voice requests,
Autonomy: object tracking, reaction to object in the environment,
2.3.2. ROMAN
General description
ROMAN (RObot huMan interAction machiNe) has been designed at the University of
Kaiserslautern as a test platform for the examination of human-robot interactions. The
robot has the form of a very realistic head mounted on a neck. The emphasis has
been put on the communication interfaces that incorporate speech, gestures, and facial
expressions. The robot emotional structure includes several drives. A collection of 6 basic
emotions has been implemented. The robot is able to interpret the movements of its
interlocutor and adjust accordingly its behaviour. The robot is presented in figure 2.24.
Specific features
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Manufacturer: University of Kaiserslautern, Germany,
Web: http://agrosy.informatik.uni_kl.de/en/robots/roman,
References: K. Mianowski, et al., Mechatronics of the humanoid robot ROMAN,
Proc. 6th Int. Workshop on Robot Motion and Control (RoMoCo), Bukowy Dworek,
PL, 2007,
Mobility: none,
Physical parameters: human’s head,
Components: neck, head with realistic face,
Scene detection: stereovision cameras, microphones,
Robot-human communication: environment detection, head motions, facial expressions (raising eyebrows, stretching lips, wrinkling nose),
Autonomy: reaction to object in the environment,
2.3. Android robots
2.25. Albert
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Control system: DSPs, embedded PC,
2.3.3. ALBERT
General description
Similarly to Kismet and MERTZ, this is a robotic head equipped with a very realistic
human face made of a special elastic polymer Frubber (foam-rubber) deceptively similar
to the human skin. The purpose of Albert is getting involved into interaction and
conversation with humans. The robot is able to understand statements in English,
initiate an eye contact, recognise human faces, and attract the interlocutor’s attention.
Albert can be mounted as a head on the biped Hubo of the Honda Asimo class. The
Specific features
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Manufacturer: Hanson Robotics, US,
Web: http://www.hansonrobotics.com,
Mobility: none,
Physical parameters: human head,
Components: head with face,
Scene detection: microphone, micro-cameras,
Robot-human communication: microphone, loudspeakers, facial expressions, eye
contact tracking and maintaining, speech recognition and synthesis, natural language
processing, face recognition, dialoguing, personality simulation,
Autonomy: object tracking, reaction to object in the environment, eye contact
tracking,
Availability, price: available for hire, USD 2000/day.
31
2.26. iCat
2.4. ZOOMORPHIC ROBOTS
2.4.1. ICAT
General description
The robot iCat was developed in Philips laboratories as a hardware and software platform
for fostering the research on human-robot interactions. The robot was equipped with
movable eyes, eyelids, eyebrows, mouth, and head enabling the expression of emotions.
A camera served for face recognition. Tactile sensors and LEDs were installed in iCats
ears and feet. The robot is presented in figure 2.26.
Specific features
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Manufacturer: Philips, Holland,
Web: http://www.research.philips.com/technologies/syst_softw/robotics/
index.html,
References: A. J. N. van Breemen, iCat: Experimenting with animabotics, AISB
2005 Creative Robotics Symp., Hatfield, England,
Purpose: research robot,
Appearance: zoomorphic,
Mobility: none,
Components: feet, torso, head,
Scene detection: tactile sensors, microphone, infrared sensors,
Robot-human communication: loudspeaker, facial expressions, determination of
the sound source,
Autonomy: expression of emotions, face recognition,
Availability, price: no longer available.
2.4.2. PLEO
General description
The Pleo robot is an autonomous, interactive robot toy in a shape of a dinosaur baby,
commercially available from Ugobe Inc. It has 14 DOF and it can walk, has movable head
and tail. The robot is equipped with over 40 sensors (touch, motion, sound, light) and it
is programmed to play with a person, express simple emotions, feel hunger and fatigue,
change its mind and mood. With its colour camera the robot may see colours, detect
32
2.4. Zoomorphic robots
2.27. Pleo
objects in front of it, detect motion, track a moving objects. The robot is presented in
figure 2.27.
Specific features
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Manufacturer: Ugobe, US,
Web: http://www.pleoworld.com/,
Purpose: entertainment,
Mobility: toddling, quadruped,
Physical parameters: height 0.20m, length 0.53m, weight 1.5kg,
Components: torso, legs, head, tail,
Scene detection: tactile sensors, microphones, vision system,
Robot-human communication: sounds acquisition, roaring, motion, detection,
body expressions,
Autonomy: toddling, expression of emotions, playing,
Control system: 32 bit Atmel ARM7 microprocessor board running LifeOS, (with
an artificial intelligence engine) powered by motor and vision subprocessors
Openness of design: limited (programmable, with the system documentation,
delivered)
Availability, price: on sale, EUR 300.
2.4.3. LEONARDO
General description
This robot, whose name is a tribute paid to Leonardo da Vinci, a scientist, inventor
and an artist, has been called a Stradivarius of expressive robots. Leonardo serves
primarily as a research platform for the implementation and the testing of human-robot
interaction algorithms, as well as of scene analysis and understanding. The robot, that
looks as a lovely furry animal toy, has been equipped with sophisticated tools for speech
analysis and visual image recognition, is able to understand people and learn simple
behaviours. Using its paws Leonardo can press buttons or shift small objects. Its main
communication means is the head that, thanks to movable eyes, mouth and neck, is able
to express a number of emotions. The robot is presented in figure 2.28.
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2.28. Leonardo
Specific features
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Web: http://robotic.media.mit.edu/projects/robots/leonardo/overview/
overview.html,
References: J. Gray, et al., Leonardo: Goal assistance with divergent beliefs, http:
//videolectures.net/aaai07graylga/,
Purpose: research platform, robotic companion,
Mobility: none,
Components: torso, paws, neck, large-eared head,
Scene detection: visual and auditory systems,
Robot-human communication: facial and body expressions, sharing attention,
speech, face recognition,
Autonomy: expression of emotions, face recognition,
Chapter 3
Overview of social robot components
3.1. MOBILE BASES
Due to their unique appearance and very natural mobility properties we shall concentrate
on balancing wheeled mobile platforms, based on the concept of the inverted pendulum.
In recent years, this type of mobility has found many applications, e.g., in the design of
walking gaits for humanoid robots, robotic wheelchairs, and personal transport systems.
The movements of a balancing platform look pleasant, and in some aspects resemble
human movements. Natural balancing actions show that this construction is not only
acceptable for people, especially for children, but also safe.
3.1.1. BALANCING PLATFORMS OVERVIEW
The uniqueness of balancing systems has aroused a vivid interest within the robotic
community. Below we describe a collection of mobile bases belonging to the balancing
family.
Segway RMP 100
Segway RMP (Robotic Mobility Platform) 100 is a mobile platform particularly suitable
for indoor applications where maneuverability and a tight turning radius are advantageous. A dynamic stabilisation system helps the Segway RMP 100 to climb over
obstacles. The vehicle is shown in figure 3.1.
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Manufacturer: Segway Inc., Bedford, NH, US,
Web: http://www.segway.com/police-government/products-solutions/
robotic-mobility-platform.php,
Purpose: robotic mobility platform, transporter,
Physical parameters: height 0.69m, width 0.61m, depth 0.61m, weight 57kg, speed
1-10km/h, range 13-19km, carrying capacity 45-68 kg,
Components: wheeled mobile base, batteries, small upper table,
Scene detection: none,
Control system: dynamic stabilisation,
Availability, price: USD 17000.
nBot
The mobile platform nBot was constructed by P. Anderson form the Southern Methodist
University, Texas, US, and featured as NASA’s Cool Robot of the Week for 19 May 2003.
The platform is shown in figure 3.2.
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Manufacturer: Southern Methodist University, University Park, TX, US,
Web: http://www.geology.smu.edu/~dpa-www/robo/nbot/,
Purpose: for outdoor performance,
Chapter 3. Overview of social robot components
3.1. Segway RMP 100
3.2. nBot
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Components: aluminium chassis, DC motors with gear reduction, standard model
airplane wheels gyroscopes and tilt sensors,
Control system: Freescale HC11 microcontroller,
Controller: linear PID for rolling remote control, the balancing algorithm measures
two outputs from the robot and calculates the balancing torque,
Openness of design: partly open,
BallyBot
BallyBot is an experimental balancing robot, used as an experimental platform to study
sensor and control systems to be implemented for humanoid robots. The robot is shown
in figure 3.3.
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Manufacturer: University of Western Australia,
Web: http://robotics.ee.uwa.edu.au/eyebot/,
Purpose: balancing research platform,
Physical parameters: height 0.15m, weight <2kg,
3.1. Mobile bases
3.3. BallyBot
3.4. SegBot
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Components: plexiglass chassis, DC motors with gear reduction, gyroscopes and
tilt sensors, encoders,
Control system: EyeBot controller with Freescale MC68332,
Controller: linear controllers LQR and pole placement for balancing, PID for rolling
remote control,
Openness of design: open,
SegBot
The SegBot appeared in 2004 as the final project for the Introduction to Mechatronics
class at the University of Illinois. The goal was to design and build a 2 wheel balancing
robot based on the same principles as Segway. The robot is shown in figure 3.4.
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Manufacturer: University of Illinois, Urbana Champaign, US,
Web: http://coecsl.ece.uiuc.edu/ge423/spring04/group9,
Purpose: balancing research platform,
Components: aluminium chassis, DC motors, gyroscopes and tilt sensors, infrared
sensors, encoders, camera,
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3.5. Joey
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Control system: Spectrum Digital TMS320C6713 DSK,
Controller: linear controller LQR for balancing, wall following or remote control,
Openness of design: partly open,
Joey
This mobile platform has been devised at the Swiss Federal Institute of Technology,
Lausanne, Switzerland. The vehicle is able to make stationary U-turns. A controller
keeps the system in equilibrium. The robot is shown in figure 3.5.
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Manufacturer: Swiss Federal Institute of Technology, Lausanne, Switzerland,
Web: http://leiwww.epfl.ch/joe,
Purpose: balancing small and lightweight research platform,
Physical parameters: height 0.65m, weight 12kg, max speed 1.5m/s,
Components: chassis, DC motors, gyroscopes and tilt sensors,
Control system: DSPs,
Controller: remote control, linear pole placement for balancing,
Openness of design: partiy open,
uBot4
uBot4 is a wheeled, dynamically balancing, bimanual mobile manipulator, combining
manipulation and mobility capabilities in a very efficient way. It has been designed as a
research platform dedicated to the study of robotic tasks like pushing, pulling, digging,
grasping, single robot and cooperative transport, and also traversing a rough terrain. A
more advanced version, uBot5, has been described in chapter 2. The robot is shown in
figure 3.6.
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Manufacturer: University of Massachusetts, Amherst, Massachusetts, US,
Web: http://www-robotics.cs.umass.edu/Robots/UBot,
Purpose: balancing small and lightweight research platform for mobile manipulation,
3.2. Arms and hands
3.6. uBot4
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Physical parameters: height 0.54m, width 0.48m, weight 11.5kg, max speed
4km/h,
Components: chassis, LCD touchscreen with speakers and a USB webcam, two
arms 0.5m length, gyroscopes and tilt sensors,
Control system: DSPs, embedded Bitsy, PC/104+ based Pentium,
Controller: linear PID for remote control, LQR and pole placement for balancing,
Openness of design: partly open (with an individual password),
Availability, price: unavailable,
3.1.2. CONCLUDING REMARKS
A comparison of robotic designs studied in chapter 2, and an analysis accomplished
in this subsection prove that balancing mobility, maneuverability, capability of climbing
over obstacles, and a sort of charm in motion demonstrated by balancing wheeled mobile
platforms make them preferred candidates for the mobile base of the LIREC robotic
companion. However, almost all existing constructions are research prototypes that are
not commercially available. The only available devices, coming from Segway Inc., are
too heavy, lacking the open architecture, and much too expensive. This being so, it
seems very rational to build a balancing platform dedicated to LIREC objectives.
3.2. ARMS AND HANDS
One of inseparable human skills is the ability to manipulate objects and communicate
by gestures – simply using his or her arms and hands. A social robot acting in human
surrounding should have a similar competence.
As we have mentioned above, there are two different tasks for robotic arms and hands:
manipulation and gesticulation. Each of these tasks presents different requirements with
respect to arm design, its equipment, and motoric skills. Manipulation requires a solid,
rigid construction, a precise positioning system with force control, a vision feedback,
and touch sensors. A device with such features will be quite heavy, complicated, and
likely very expensive. Gesticulation is not so challenging and usually requires a plain,
light arms structure, and a simple positioning system with an overcurrent protection
only. Possibly, to prevent from collision with other objects, the support from a vision
system will be required. Usually, an arm with a hand designed for gesticulation only
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3.7. David Ng
3.8. AMTEC
is very light, its construction and control system are not complicated, it has low power
consumption and is cheaper than the arm designed for manipulation.
All the scenarios elaborated within the LIREC project are based on the following assumptions:
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robot communicates with humans through voice, gesture and facial expressions,
robot undertakes only very simple manipulation tasks,
robot does not get into physical interaction with a human.
For these reasons, we are looking for robotic arms/hands designed primarily for gesticulation.
3.2.1. ARMS
David Ng – Robot Hand/Arm
Servo operated robotic hand and arm.
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Simple construction, light weight,
Hand/arm is operated by 13 high torque servos,
Price: USD 6000,
Web: http://www.androidworld.com/prod61.htm.
SCHUNK AMTEC Robotics
The human-like 7 DOF light-weight arm (Amtec PowerCube technology).
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Modular design of mechatronic modules,
Carbon Fiber Reinforced Polymer,
Operate off a 24VDC battery,
Control is done directly via PC or notebook, a PCI or USB interface,
3.2. Arms and hands
3.9. Neuronics
3.10. Festo
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Physical parameters: length 1.37m, weight 16kg,
Web: http://www.amtec-robotics.com/robotersysteme_en.html.
Neuronics AG
Katana – Intelligent Personal Robot (IPR).
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Powerful embedded controlboard (TI TMS320 32bit),
Linux with Xenomai Hard Real Time extensions,
Degrees of freedom: 5 to 6 (6 Motors),
Weight: 4.8 kg,
Price: CHF 19000,
Web: http://www.neuronics.ch.
Festo
Airic’s arm is inspired by nature. Based on a combination of mechatronics and the
biological model of a human being, it opens up new possibilities for future automated
movement processes.
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30 muscles,
The muscles are Festo products,
Pneumatic,
Weight: 6.3kg,
Web: http://www.festo.com/inetdomino/coorp_sites/en/
ffeed49f2394ea43c12572b9006f7032.htm.
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3.11. Barrett
3.12. Shadow
Barrett Technology
WAM Arm s a highly dexterous, naturally backdrivable manipulator. The only arm sold
in the world with direct-drive capability supported by Transparent Dynamics between
the motors and joints.
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Human-like kinematics,
4 or 7 DOF,
Modular construction,
Servo-electronics,
Lightweight design (3.3 kg or 5.8 kg),
Open control architecture,
Web: http://www.barrett.com/robot/products-arm.htm.
3.2.2. HANDS
Shadow Dextrous Hand
The Shadow Dextrous Hand is an advanced humanoid robot hand system that reproduces
as closely as possible the 24 degrees-of-freedom of the human hand.
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Pneumatic,
Hall effect sensor with typical resolution of 0.2 degrees senses the rotation of each
joint.
software provided under GNU GPL
Physical parameters: size: typical human male, weight 3.9kg
Communication: CAN,
Price: EUR 90000 ,
Web: http://www.shadowrobot.com/.
3.2. Arms and hands
3.13. UBHand 3
3.14. Faulhaber Hand
UBHand 3
The overall hand is based on an innovative mechanical architecture, which adopts deformable elements as joint hinges (compliant mechanisms).
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Endo-skeletal structure,
Any kind of artificial muscles,
16 DOF (max. 20)
Web: http://www-lar.deis.unibo.it/activities/dexterousmanipulation/
UBHandIII/index.html.
Faulhaber Hand
This robotic hand consists of three fingers, each with four joints in three degrees of
freedom. The fourth finger, designed as a thumb, has four degrees of freedom.
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Separately controllable fingers,
5 Mbps high speed bus is incorporated in the robotic hand itself and developed
specifically for this application,
Each finger joint features a company-designed contactless angle sensor as well as a
torque sensor,
Control system, a signal processor on a plug-in PCI card, is integrated in a standard
PC,
Electronically commutated DC motors (EC motors),
Web: http://www.faulhaber-group.com/n273481/n.html.
Dainichi Company, Ltd. Kani, Japan
The man-type robot hand, Gifu Hand III, has been developed as an object for a research
of grasping and manipulating an object and operating a machine device, and it is small
and lightweight.
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5 fingers, 20 joints, and 16 DOF,
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3.15. Gifu Hand III
3.16. BH8-series BarrettHand
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Small servomotors inside the fingers,
Weight: 1.4kg,
Price: USD 51400,
Web: http://www.kk-dainichi.co.jp/e/gifuhand.html.
Barrett Technology
The BH8-series BarrettHand is a multi-fingered programmable grasper with the dexterity
to secure target objects of different sizes, shapes, and orientations. and compact form,
it is totally self-contained.
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Three multi-jointed fingers,
Human-scaled,
Brushless, DC, servo motors,
Industry-standard serial communications,
C-Language command library for PCs,
Weight: 1.18kg,
Web: http://www.barrett.com/robot/products-hand.htm.
Touch Bionics
The i-LIMB Hand is the world’s first fully articulating and commercially available bionic
hand.
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Five individually powered fingers,
High-strength plastics,
Lightweight,
Control system uses two-input myoelectric (muscle) signal to open and close the
hand,
Price: USD 18000,
Web: http://www.touchbionics.com/.
3.3. Vision acquisition system
3.17. i-LIMB Hand
Concluding, one can find only a few complete arm solutions in the market. As a rule, offered products are appropriate rather for manipulation than gesticulation task. Available
constructions are quite heavy, complicated and expensive. Truly dedicated to humanoid
robots are the arms developed by Festo and David Ng. Festo does not mention the
arm in its offer, it looks as only an advertisement product. Ready to buy is David Ng
arm, unfortunately the available information if far from complete. The arm construction
bases on aluminium tubes powered by high torque servos. We do not know either the
arm true weight, or control and sensor systems or interfaces. Moreover, on the short
films avaliable on the web page it easy to see, that arm’s performance leaves much to
be desired. Similar situation is in the case of robotic hands. Avaliable hands were
constructed mainly for manipulation tasks. From our point of view, worth noticing is
the UBHand III because of its lightweight and simple construction. Unfortunately, the
hand itself does not contain driving motors and is commercially unavailable.
3.3. VISION ACQUISITION SYSTEM
The vision system designed for the social robot perception should be able to perform
the following tasks:
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objects (human) localization,
face detection and localization,
motion detection,
object tracking.
These tasks require, that the acquisition system should feature:
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wide viewing angle (e.g. for motion detection and object localization and tracking),
reasonable resolution of the ROI presenting the human face (e.g. for the recognition
of emotions),
high frame rate (e.g. for motion estimation and object tracking).
The first two requirements can be fulfilled by the acquisition system having the ability
to change both the viewing angle (Zoom) and the viewing direction (Pan-Tilt). The
last requirement implies high image data transmission rate between the camera and the
computer and hence determines the selection of the camera interface.
3.3.1. COMMERCIAL VISION SYSTEMS
The commercially available vision systems are addressed to typical tasks (inspection,
surveillance, traffic supervision, factory automation, robot navigation, obstacle avoidance, etc.). The most popular groups are discussed in more details in this section.
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General conclusion, however, is that we cannot use any of the offered systems in our
project. The main reason is that the commercial systems are not flexible enough to
be adopted to the specific tasks in social robotics. Moreover, they are not open, no
user modifications are allowed. Therfore we consider assembling the vision system using
available components (cameras, zoom lenses, pan/tilt units, frame grabbers etc.).
Surveillance and security systems
Many companies are offering commercial vision systems dedicated to security and surveillance. Some tasks (object localization and tracking, face recognition, etc.) are similar
to those of the social robot visual perception system. Unfortunately, those systems are
closed and cannot be easily adopted (expanded) to fit our needs:
http://www.sourcesecurity.com/companies/company-listing/flir-commercial
-vision-system-b-v.html,
http://www.sourcesecurity.com/product-filter/cctv/image-capture/video
-motion-detectors.1.html,
http://www.videortechnical.com/index_dt.php,
http://verint.com/video_solutions/index.cfm,
http://www.security.honeywell.com/uk/,
http://www.everfocus.de/en/index.htm,
http://www.gallaghersms.com/,
http://www.multipix.com/_security/index.php.
Industrial machine vision
Some examples, not applicable in the project:
http://www.ni.com/vision/vbai.htm – automated inspection,
http://www.ni.com/vision/vdm.htm – vision development (e.g. OCR),
http://www.ni.com/vision/cvs.htm – compact vision systems (embedded processors),
http://www.matrox.com/imaging/products/system.cfm,
http://www.jai.com/EN/Pages/home.aspx – traffic solutions,
http://www.machinevisiononline.org/.
Smart cameras
A smart camera is a machine vision system which contains: image capture circuitry,
embedded processor, which can extract information from images, and interface devices
used to make results available to other devices. It is a self-contained, standalone vision
system with built-in image sensor in the housing of an industrial video camera. It
contains all necessary communication interfaces, e.g. Ethernet, as well as industry-proof
24V I/O lines for connection to a PLC, actuators, relays or pneumatic valves. It is not
necessarily larger than an industrial or surveillance camera. In most cases, smart camera
functions are limited to early processing, segmentation (thresholding, gradient), pattern
matching, blob coloring (labeling), silhouette parameters calculation (moment invariants), etc. More information on selected smart cameras can be found in the following
web pages:
http://pennwell.365media.com/visionsystemsdesign/category/37.html,
http://www.vision-components.de/,
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3.18. Smart cameras: VC4438, NI-1742, DVT
http://www.cognex.com/ProductsServices/VisionSystems/InSight.aspx?id=110,
http://www.ni.com/vision/smartcamera.htm,
http://www.matrox.com/imaging/products/smart_cameras.cfm,
http://www.vision-components.de/,
http://www.sickivp.se/sickivp/en.html,
http://www.cimtecautomation.com/DVT_cameras_sensors.htm.
Example smart camera – VC Vision Components GmbH VC4438
(http://www.vision-components.de) is shown in figure 3.18:
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Sensor: 1/3”, 640 (H)×480 (V) Pixel
Shutter: High-speed: up to 5s, Low-speed: up to 8s adjustable integration time
Integration: Full Frame Progressive Scan
Frame rate: 63 fps (126 fps with 2 times binning)
Acquisition: Asynchronous, program controlled or external trigger, full frame
A/D conversion: 1×25 MHz / 10 Bit
Processor: 8000 MIPS, 1 GHz Texas Instruments TMS320C64xx
Image display: B&W or pseudocolor from 3x8 bit RGB lookup table
Image/Data memory: 64 MBytes SDRAM
Flash memory: 4 MBytes Flash EPROM (non-volatile memory) for programs and
data, programmable in the system
Dig. I/Os: 4 inputs / 4 outputs optically decoupled 24V, outputs 4×500mA
Interfaces: RS232 up to 115.200 Baud max. and 100Mbit Ethernet
Video output: SVGA 800x600 (VESA standard)
Supply voltage: 24V ±20
Electrical connections: I/O (DC IN, PLC, 12-pin), V24 (6-pin), Trig (Trigger/keypad, 6-pin), VGA Out (10-pin)
Dimensions: approx. 110×50×35 mm, approx. 400 g.
Stereo
Binocular stereovision systems are available, which can perform depth map building
based on the disparity of the stereo pair of images. MobileRobots offers the MobileRanger Stereovision System with embedded range-finding as an add-on to the PeopleBot (http://www.activrobots.com/ACCESSORIES/MobileRanger.html). The binocular and trinocular camera heads are shown in figures 3.19 and 3.20. More solutions can
be found in:
http://www.ptgrey.com/products/stereo.asp?gclid=CNvT-fOI4ZUCFRSb1Qodx3QSXA,
http://www.videredesign.com/vision/svs_intro.htm,
http://www.ai.sri.com/software/SVS,
http://www.newtonlabs.com/cognachrome/,
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3.19. Stereo camera heads of MobileRanger
3.20. Other stereo camera head examples
http://www.videredesign.com/vision/stereo_manuals.htm,
http://www.dis.uniroma1.it/~iocchi/stereo/,
http://www.linuxdevices.com/news/NS8326899521.html,
http://linuxdevices.com/articles/AT3172103326.html,
http://www.newtonlabs.com/cognachrome/,
http://www.videredesign.com/vision/stereo_manuals.htm,
http://www.dis.uniroma1.it/~iocchi/stereo/.
3.3.2. PAN-TILT-ZOOM
A way to achieve the required performance of the image acquisition system is the PTZ
(Pan-Tilt-Zoom) capability. We will consider two PTZ architectures: soft PTZ and
mechanical PTZ.
Soft PTZ
One of the possible image acquisition architectures (a single camera) requires:
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high quality wide angle lens,
variable focus capability,
high speed camera interface,
high resolution image sensor with:
◦ global shutter,
◦ programmable ROI,
◦ binning capability.
3.21. Logitech QuickCam Pro 9000 camera
3.22. AXIS 212 surveillance camera
In this way we can realize a soft PTZ functionality of the image acquisition system. The
limited resolution of the image sensors is the main constraint of such a solution.
An example of a camera near to the above specification is Logitech QuickCam Pro 9000
(shown in figure 3.21). It features:
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Auto-focus,
Auto-follow and zoom on both one and multiple people,
RightLight 2 auto lighting compensation,
Carl Zeiss lens,
True 2 megapixel sensor (1600x1200), with software enhancement up to 8,
True high-definition resolution 960×720,
Integrated microphone,
USB 2.0 interface,
Web: http://www.logitech.com/index.cfm/38/3056&cl=us,en.
Linux driver for QuickCam USB cameras (qc-usb) works well with v4l2.
Another example of such a solution, AXIS 212 PTZ Network Camera (http://www.
axis.com/products/cam_212/) is shown in figure 3.22. It achieves full overview as well
as instant pan/tilt/zoom without any moving parts. This is based on two factors:
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a wide-angle lens combined with a 3 megapixel sensor,
utilization of the full “windowing” possibilities: the camera captures predetermined
sections of the overview without mechanical motion.
The advantages of no moving parts are considerable:
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no noise,
no delay for mechanical movement.
Mechanical PTZ
A PTZ camera with a motorized lens and a mechanical PTU (Pan-Tilt Unit) seems to
be the most effective alternative. The tasks of motion detection and object localization
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3.23. Canon VC-C4 PTZ camera
3.24. Canon VC-C50i PTZ camera
can be performed in wide lens mode. Human face recognition as well as more precise
object localization and recognition will use tele lens mode. Thus, the required image
sensor resolution remains within reasonable limits (e.g. VGA or CCIR-D1). The main
drawback of this solution is its mechanical complexity. Moreover, in our application,
the level of mechanical noise could be unacceptably high for sound (voice) acquisition
system of the robot.
There are many PTZ camera modules available, especially for security/surveillance purposes. Most of them are analog video cameras (PAL/NTSC color system):
Canon VC-C4 Camera for Video Conferencing (formerly offered with some versions of
PeopleBot) is shown in figure 3.23.
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Genuine Canon 16x Optical Lens, the highest zoom ratio in its class
1/4” CCD with 410,000 pixels
Auto and manual focus
Auto and manual exposure
Backward compatibility with previous Canon models
Motorized Pan range of 100◦ each way (VC-C4R 170◦ each way)
Motorized Tilt range of 90◦ up, 30◦ down (VC-C4R 10◦ up, 90◦ down)
Intelligent image processing to achieve higher image compression for video streaming
9 cameras can be cascaded together and operated by one I/R controller or via RS
232 (serial) computer control
Infra-red remote control included
Up to 9 preset motion positions for accurate framing
Compact size, only 4” W×4.48” D×3.58” H
Weight: <0.5kg.
Canon VC-C50i Communication Camera (http://www.usa.canon.com/consumer/) is
shown in figure 3.24.
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Total Number of Pixels [NTSC] 630K total (340K effective); [PAL] 740K total (400K
effective)
3.25. SONY EVI-HD1 high definition color PTZ video camera
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Minimum Illumination 1 lux (visible light mode, at 1.30 electric shutter speed)
Focusing Wide: 0.01 to inf./tele. 1.6 to inf., AutoManual
Zoom 26 times (at infinite) optical, 12x digital
Pan Angle Range [VC-C50i] ± 100◦ [VC-C50iR] -90◦ to +10◦
Tilt Angle Range [VC-C50i] -30◦ to +90◦ , [VC-C50iR] -90◦ to +10◦
Moving Speed 1-90◦ /s
White Balance: auto/manual/one touch
Dimensions [VC-C50i] 100×125×96mm; [VC-C50iR] 130×125×98mm
Weight [VC-C50i] 420g; [VC-C50iR] 490g
Many of the PTZ cameras provide both Video and HD/SD image output formats. SONY
EVI-HD1 High Definition Color PTZ Video Camera (shown in figure 3.25) is one of the
examples:
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Web: http://www.sony.pl/biz/view/ShowProduct.action?product=EVI-HD1
Image sensor 1/3-type CMOS
Effective pixels Approx. 2 Megapixels (16:9)
Lens 10x optical Zoom, 40x with digital zoom, f = 3.4 to 33.9 mm, F 1.8 to F 2.1
Minimum object distance 100 mm (wide)
Horizontal viewing angle 8◦ (tele) to 70◦ (wide) at HD signal output
Focus system Auto / Manual
Exposure control Auto / Manual / Priority AE / Exposure compensation / Bright
Shutter speed 1/2 to 1/10,000s
White balance Auto / Indoor / Outdoor / One push auto / Manual
Pan ±100◦ (Max. speed 300◦ /s) Tilt ±25◦ (Max. speed 125◦ /s)
Video output HD HD-SDI, Analog Component (Y/Pb/Pr) SD VBS, Y/C
Power requirements 12 V DC (10.8 to 13.0 V DC)
Power consumption Max. 30 W (at DC 12 V)
Dimensions 259 (W)×150 (H)×169 (D) mm
Mass Approx. 2 kg (4 lb 7 oz)
PTZ cameras are frequently equipped with IP networking interface (examples follow).
Sony SNC-P5 Colour PTZ IP Camera,1/4-type progressive scan CCD (http://pro.
sony.com/bbsc/ssr/app-security/cat-ip/product-SNCP5/) is shown in figure 3.26:
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Interfaces/Ports RJ-45 10/100Base-TX, Analog Video Out
Protocol TCP/IP, ARP, ICMP, DHCP, DNS, HTTP, FTP, SMTP, NTP, SNMP,
RTP, RTCP, PPPoE
Optical Zoom 3x
Dimensions 130mm Height×130mm Width×110mm Depth
Connectivity Technology Cable
Video Resolution 160×120 to 640×480, MPEG-4 and Motion JPEG
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3.26. Sony SNC-P5 colour PTZ IP camera
3.27. Canon VB-C50i networking communication camera
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Sensor Type CCD
Lens Type Optical 3x zoom lens
File Formats MPEG-4 Motion JPEG
Power Consumption 6.2W
Canon VB-C50i Networking Communication Camera, replacement for the VC-C4 (http:
//www.canon-europe.com/For_Home/Product_Finder/Web_Cameras/Web_Cameras/vc_
c50i/i) is shown in figure 3.27:
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Total Number of Pixels 1/4” CCD 340,000 Effective Pixels
Minimum Illumination 1 Lux (1/30 shutter speed)
Zoom 26X Optical Zoom Lens/12X Digital Zoom
Pan Angle Range ±100◦
Tilt Angle Range +90◦ /-30◦
Dimensions VB-C50i: 104.6×130.3×108.7mm VB-C50iR: 104.6×130.3×110.6 mm
Weight VB-C50i: Approx. 1.4 lbs (620g) VB-C50iR: 1.5lbs. (700g)
Canon VB-C300 (shown in figure 3.27) offers both Video and Networking capabilities (http://www.canon-europe.com/For_Home/Product_Finder/Web_Cameras/Web_
Cameras/VB_C300/):
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Video Signal: Conforms to PAL (output image when connected to VB-C300)
Image Sensor: 1/4 inch CCD
Total number of pixels: 310,000 effective
Lens: f = 3.0 - 7.2mm F 2.0 - 3.4, 2.4x power zoom (shooting at infinity)
Focusing: Auto/Manual Wide-angle: 0.01m to inf. Telephoto: 1.6m to inf
Horizontal field of view: 70.8 (W)×29.6 (T)
Pan Angle Range 340◦ (±170◦ )
Tilt Angle Range Upright Position = 115◦ (-25◦ to 90◦ ) Inverted = 115◦ (-90◦ to
25◦ )
3.28. Canon VB-C300 PTZ camera
3.29. A family of motozoom lenses by ABAKUS
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Moving Speed Pan = Max. 90◦ /s Tilt = Max. 70◦ /s
Minimum subject illumination: Day mode: 1 lux (at 1/30s) Night Mode (0.25 lux at
1/30s shutter speed)
Imaging Mode: Dayl/Night mode (manual or schedule-based switch)
Infra-red cut filter: Power-driven insertion/removal (normal mode/night mode)
Protocol: HTTP, DHCP, WW-HTTP (Canon)
Video compression method: Motion-JPEG (for video), JPEG (for still pictures)
Image sizes: 680x480 / 320x240 / 160x120
Max. capture frame rate: 25 fps
Frame Rate: 0.1 fps 25 fps (max)
Camera Dimensions: 132 (W)×122 (D)×130 (H) mm (excluding attachment)
Weight: Approx 780g (Excluding Dome)
Power consumption: 10W Max (on PoE) or 13W Max (on AC)
More examples:
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Axis Communications - AXIS 212, 214, 232D, 2130R PTZ Network Cameras (http:
//www.axis.com/products/)
Speco Indoor Outdoor Color Pan Tilt Zoom Speed PTZ Camera (http://www.
specotech.com/)
Other PTZ IP Cameras from Axis, Canon, Sony, Vivotek, Panasonic, JVC, Nextiva and Pixord (http://www.kintronics.com/neteye/PTZ%20cameras.htm,http:
//www.videobotics.com/frtable2.html,http://www.aegis-elec.com/products/
ptz-pan-tilt-zoom-cameras.html)
Zoom lenses
The zoom lenses are relatively expensive (if not integrated into the camera). Moreover,
they require special control devices. An example of C-mount motorized zoom lenses
family (http://www.abakus.co.uk/C_Mounts.htm) is shown in figure 3.29.
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3.30. ABAKUS Regular Premium Zoom lens
An example of motorized zoom lens which fits our needs is Regular Premium Zoom
(shown in figure 3.30). Its main parameters:
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Angular zoom range 8:1
Angle vertical 33 –4
Angle horizontal 44 –5.4
Angle diagonal 55 –7
Maximum Metal Dia. 51mm
Front to Flange distance 110mm
Image Size: Height×Width×Diagonal 3.6×4.8×6.0(mm)
Relative aperture range f/2.8-f/16 & fully close
Closest focus 1000 mm
Filter Standard 49mm, 0.75 pitch Standard 49mm, 0.75 pitch
Weight 340 g
Motor Control Focus, Zoom & Iris
Price £ 3840
One can avoid using zoom lenses by using two separate cameras: one with a wide-angle
lens for panoramic view and the other, with PTU and a narrow-angle lens, for close-ups.
Such a system for face detection/tracking, composed of a pair of PTZ and fixed (wide-angle) cameras is described in Takuma Funahasahi, Masafumi Tominaga, Takayuki Fujiwara, Hiroyasu Koshimizu, ”Hierarchical Face Tracking by Using PTZ camera”, Proc.
of the 6th IEEE Conf. on Automatic Face and Gesture Recognition (FGR 04), 2004.
http://doi.ieeecomputersociety.org/10.1109/AFGR.2004.1301570
http://www.springerlink.com/content/n7keng8mj6xdkku0/.
Another possible solution is to use a small camera with integrated zoom lens, mounted
in robot eye/head. The PTU functionality can be then replaced by DOFs of the head
itself.
An example of a camera, which can be used in such an acquisition system is Sony
FCB-EX11DP Ultra-Compact Color PAL Block Camera (shown in figure 3.31).
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Image Sensor 1/4-type EXview HAD CCD
Signal System PAL
Number of Total Pixels 440,000 pixels
Horizontal Resolution On/Off (530 TV Line Resolution Mode On)
Lens 10x optical zoom, F1.8 to F2.9 f = 4.2mm to 42.0 mm
Digital Zoom 12x (120x with optical zoom)
Viewing Angle (H) 46.0 (wide end) to 4.6 (tele end)
Minimum object distance 0.2m (wide end) to 1.0m (tele end)
Sync system Internal/External (V-Lock)
Minimum illumination 1.0 lx (typical) (F1.8, 50 IRE)
Electronic shutter More than 50 dB
3.31. Examples of Sony block cameras (FCB-EX11DP and FCB-H11)
3.32. DFK 31BF03-Z Firewire camera with motozoom
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White balance Auto, ATW, Indoor, Outdoor, One-push, Manual
Focusing System Auto (Sensitivity: normal, low), One-push AF, Manual, Infinity,
Interval AF, Zoom Trigger AF
Video Output VBS: 1.0 Vp-p (sync negative), Y/C
Camera control interface: VISCA (TTL signal level), baud rate: 9.6 Kb/s, 19.2 Kb/s,
38.4 Kb/s, stop bit selectable
Power Consumption 6 to 12 V DC/1.9W (motors inactive), 2.8 W (motors active)
Weight 95 g
Dimensions 35.9×40.8×59.2 (mm)
Sony block cameras can be found at http://pro.sony.com/bbsc/ssr/
cat-industrialcameras/cat-block/.
Several Zoom camera examples with Firewire interface are offered by TheImagingSource (http://www.theimagingsource.com/en/products/zoom_cameras/firewire_
color/).
As an example we can quote the DFK 31BF03-Z specification (the camera shown in
figure 3.32):
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Video formats @ Frame rate 1024×768 UYVY @ 15, 7.5, 3.75 fps 1024×768 BY8 @
30, 15, 7.5, 3.75 fps
Sensitivity 0.5 lx at 1/15s, gain 20 dB
Dynamic range ADC: 10 bit, output: 8 bit
SNR ADC: 9 bit at 25C, gain 0dB
Sensor ICX204AK
Type progressive scan
Format 1/3 ”
Resolution H: 1024, V: 768
Pixel size H: 4.65 m, V: 4.65 m
Focal Length (wide) 4.8 mm
F-Stop (wide) 1.6
MOD (wide) 1 cm
55
3.33. PTU-D46-17 Pan-Tilt Unit
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Focal Length (tele) 46 mm
F-Stop (tele) 3.7
MOD (tele) 40 cm
Focus auto/man
Iris auto/man
Shutter 1/10000 to 30 s
Gain 0 to 36 dB
Offset 0 to 511
White balance -2 dB to +6 dB
Supply voltage 8 to 30 VDC
Current consumption approx 200 mA at 12 VDC
Dimensions H: 50.6 mm, W: 50.6 mm, L: 130 mm
Mass 380 g
PTU – Pan-Tilt units
A Zoom Camera requires a PTU in order to be aimed at the human face. There are
different sources of such positioning devices, offering rather large units:
http://www.omnitech.com/srs_ugv_ptu.htm
http://stason.org/TULARC/science-engineering/robotics/116-Robotics-Pan
-Tilt-Mechanisms-part1.html
http://www.axsys.com/p-pantilt.php
Directed Perception provides computer controlled pan/tilt tracking mounts for robotics,
pan/tilt web cams, computer vision, teleconferencing, security, automation, etc. The
PTU-D46 models seem to fit our needs.
http://www.dperception.com/products_family_ptu-d46.html
The PTU-D46-17 Pan-Tilt Unit is shown in figure 3.33. Its main parameters:
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Max Payload Weight (nominal) 6 lbs.
Position Resolution 0.05143◦ (1/2 step), 0.0123◦ (1/8th step)
Min Pan Speed 0.0123◦ /s
Max Pan Speed 300◦ /s
Min Tilt Speed 0.0123◦ /s
Max Tilt Speed 300◦ /s
Pan Range ± 180◦
Tilt Range +31◦ /-80◦
Weight 3 lbs (not including Controller: 8 oz)
Height 5.2”
Operating Voltage 9–30VDC
It is offered with the Color Lo-Res StereoCam system for range-finding and 3-D object
detection and recognition as an add-on to PeopleBot (http://www.activrobots.com/
ACCESSORIES/stereocam.html#pan-tilt).
3.3.3. CAMERA INTERFACES
In the image acquisition system high data transmission rates are required between the
camera and the rest of the vision system. We will consider several most popular camera
interface standards, pointing out to their advantages (+) and disadvantages (–).
Composite video
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+ popular, inexpensive analog cameras for CCTV,
+ guaranteed and stable frame rate (25/30 fps),
+ frequently with integrated zoom or even PTZ,
– limited resolution (PAL/NTSC color standard),
– need for a frame grabber (digitizer),
– no global shutter and/or progressive scan (interlaced image in most cases).
Used in many PTZ and zoom cameras mentioned above (Canon, Sony) http://www.
usa.canon.com/consumer/>
http://www.canon-europe.com/For_Home/Product_Finder/Web_Cameras/Web_Cameras/
http://www.expandore.com/product/sony/PTZ/
http://pro.sony.com/bbsc/ssr/cat-industrialcameras/cat-block/
Firewire (IEEE 1394)
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+ digital computer interface,
+ standardized data transfer and camera control protocol (DCAM/IIDC),
+ high data throughput (400Mbps 1394a, 800Mbps 1394b),
+ low-level protocol managed by the interface hardware,
+ drivers availability for Win and Linux,
+ operating voltage 8–30V, current limit 1.5A,
+ isochronous image transfer,
– limited availability of integrated PTZ cameras.
Used in many cameras:
http://www.theimagingsource.com/en/products/cameras/firewire_color/
http://www.prosilica.com/products/cv_series.html
http://www.prosilica.com/products/ec_series.html
http://www.baslerweb.com/beitraege/unterbeitrag_en_26297.html
http://www.b2bvideosource.com/IEEE_1394_CAMERAS.html
http://www.b2bvideosource.com/IEEE_1394B_CAMERAS.html
http://www.1394ta.com/index.html
http://en.wikipedia.org/wiki/FireWire#FireWire_400_.28IEEE_1394-1995.29
http://www.prosilica.com/support/why_firewire.htm
There are also Video/Firewire converters available (Canopus ADVC55, TheImagingSource DFG 1394-1e, etc.).
http://www.canopus.com/products/ADVC55/index.php
http://www.theimagingsource.com/en/products/converters/dfg13941e/overview/
57
3.34. Video/Firewire converter DFG 1394-1e
DFG 1394-1e specification (the device is shown in figure 3.34):
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Video formats PAL/NTSC, RS-170/CCIR
Max resolution PAL: 768x576 at 25 Hz, NTSC: 640x480 at 30 Hz
Analog inputs 2×RCA (cinch), 1×Y/C (S-Video) - Multiplexed
Bus interface IEEE 1394-1995/1394a, 6-pin, 400 Mb/s
Color formats UYVY, RGB 32, RGB 24, RGB 8
Square pixels yes
Supply voltage 8 to 30 VDC
Current consumption approx 180 mA at 12 VDC
Dimensions H: 32 mm, W: 58 mm, L: 95 mm
Mass 100 g
USB 2.0
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+ popular digital interface,
+ wide spectrum of available cameras (web cameras inter alia),
+ high data throughput (480Mbps),
+ drivers availability for Win and Linux,
– asynchronous image transfer,
– non-standard (proprietary) protocols,
– low-level protocol managed by the host-processor,
– limited availability of integrated PTZ cameras,
– operating voltage 4.7-5.5V, current limit 0.5A.
Used in majority of webcams and in many communication, surveillance and industrial
cameras:
http://www.logitech.com/index.cfm/38/3056&cl=us,en
http://www.theimagingsource.com/en/products/cameras/
http://www.ids-imaging.de/inhalte/uEye_table/Table_uEye_e.php
http://www.ids-imaging.com/frontend/overview.php
http://www.everythingusb.com/usb2/faq.htm
CameraLink
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58
+ synchronous data transfer,
+ high-speed serial data and cabling standard,
+ very high data throughput (2.38 Gbps),
– frame grabber required,
– proprietary drivers for different camera models,
– limited availability of integrated PTZ cameras.
The new standard is used in many cameras:
http://www.machinevisiononline.org/public/articles/articlesdetails.cfm?id=
2028
http://www.vision-systems.com/display_article/223650/19/none/none/EmTrd/
High-speed-cameras-and-Camera-Link
http://www.baslerweb.com/beitraege/beitrag_en_17693.html
http://www.machinevisiononline.org/public/articles/articlesdetails.cfm?id=
1108
http://www.machinevisiononline.org/public/articles/index.cfm?cat=129
There are also some vide interfaces available: http://www.matrox.com/imaging/products/
solios_gige/home.cfm
http://www.machinevisiononline.org/buyers_guide/newproducts/details.cfm?id=
1030
http://www.i-cubeinc.com/chartlinks/pixci_e4.htm
http://www.alacron.com/sales/camera_channel_link.htm
GigE Vision
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+ very high data throughput (1000 Mbps),
+ standard gigabit Ethernet hardware,
+ very long cable lengths (100m),
+ standardized camera control registers and command structure (GenICam),
– no PTZ models available (yet?).
http://www.machinevisiononline.org/public/articles/index.cfm?cat=167
http://www.machinevisiononline.org/public/articles/details.cfm?id=2761
http://www.baslerweb.com/beitraege/unterbeitrag_en_64027.html
http://www.baslerweb.com/beitraege/beitrag_en_17693.html
http://www.prosilica.com/products/specifications/ge_series_specs.html
http://www.prosilica.com/products/gb_series.html
http://www.prosilica.com/products/gc_series.html
http://www.prosilica.com/products/ge_series.html
http://emva.org/genicam/current_status_of_genicam%E2%84%A2
http://www2.microeye.eu/inhalte/uEye_table/Table_GigE_e.php
http://www.gigalinx.net/camera_link_to_gige.html
http://www.matrox.com/imaging/products/solios_gige/home.cfm
IP cameras
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+ standard communication protocols (http, ...),
+ wired and wireless connectivity,
+ wide availability, relatively low price,
+ compact PTZ versions available,
– low frame rates (10-15fps for VGA).
http://www.kintronics.com/neteye/PTZ%20cameras.htm
http://www.linksys.com/servlet/Satellite?c=L_Product_C2
59
http://www.usa.canon.com/consumer/controller?act=ModelInfoAct&fcategoryid=
160&modelid=14897#ModelTechSpecsAct
http://www.linuxdevices.com/news/NS7726407381.html
http://www.ptzcamera.net/
http://www.itechnews.net/2008/09/08/canon-vb-c60-ptz-network-camera/
http://www.linksys.com/servlet/Satellite?c=L_Product_C2\&childpagename=US%
2FLayout&pagename=Linksys%2FCommon%2FVisitorWrapper&cid=1143837459487
http://verint.com/video_solutions/section2b.cfm?article_level2_category_id=
7&article_level2a_id=359&article_level2b_id=708
A bundle of useful links to vision hardware providers can be found at http://www.cs.
cmu.edu/~cil/v-hardware.html.
The selection of the image acquisition system for a socially interactive robot should
depend on the robot size and shape. In the case of a small robot, the described in 3.3.2
soft pan/tilt/zoom should be considered. This type of image acquisition system, with
no moving parts, silent, of low power consumption, will probably be the best choice.
If we can use mechanical PTZ (e.g. in the case of Pioneer or PeopleBot), there are many
suitable PTZ cameras available. For the indoor usage, zooming factor should be approx.
10, and the viewing angle in wide lens mode at least 60o .
Special attention should be paid to the camera size, if we envision putting it into the
robot head (eye?). Almost all available zoom cameras are far too large for such an
application. The only possibility we can see at the moment is using one of the block
zoom cameras from Sony (e.g. FCB-EX11DP is 35.9×40.8×59.2mm in size).
The Firewire interface (IEEE 1394) should be the right choice, as a Firewire Camera module is available in YARP. In the case when we have to use a video camera
(PAL/NTSC standard), there are several Video to Firewire converters available (e.g.
TheImagingSource DFG 1394-1e, described earlier).
The motors in PTZ and zoom cameras are controlled in different ways, depending on
the camera interface. In the case of IP, Firewire, USB or GigE cameras, the control
commands share the link with the image data. Most of the analog cameras make use of
the standard VISCA protocol (over an asynchronous serial link) for the motor control
and the camera settings (exposition etc.)
In the case of motion detection and analysis, the essential feature of the image sensor
is a global shutter. If enabled, the order of scanning the image field (interlaced or
progressive) does not affect the image quality.
3.4. SOUND ACQUISITION AND EMISSION SYSTEMS
The sound acquisition for communication and speech recognition is one of the serious
problem in a wide range of applications, starting from conference communication systems, hearing aids designs, through Internet phones and voice controlled devices, ending
with car or powered hang gliding communication. The problem arises in human-robot
communication systems as well. Acoustic background noise, echo signals, and robot
driven system din cause the signal degradation, which decreases the performance of
speech recognition systems.
60
3.4. Sound acquisition and emission systems
The acoustic signal disturbances can be eliminated on two stages: on the analogue stage
– during the microphone signals amplification and analogue circuit processing – and on
the digital stage – with use of variety of hardware and software systems, after signal
conversion to digital form. Until now, there are elaborated many computer algorithms
for audio signal preprocessing, designed especially for speech signal enhancement. They
utilise single microphones or microphone arrays signals, are based on a priori models or
on-line model estimation, and can be applied in the robotic companion sound systems.
However, considering the robotic companion hardware, the problem of an appropriate
sound acquisition system should not be neglected. It is important that analogue input
circuits could provide acoustic signals with required characteristics and free of noise and
disturbances.
While constructing a robot speech recognition system one comes across two sources of
signal disturbances: external sounds coming from the robot surrounding, and all the
sounds produced by the robot itself. Admittedly the disturbances belonging to the first
class are undesirable from the speech recognition point of view, however they can be
interesting from the surrounding detection point of view, and thus should be introduced
to the robot input, possibly with an additional channel. Nonetheless, the robot internal
sounds should be completely separated and possibly eliminated. It should be noticed,
that affording possibilities for sound sources localisation would be required feature of
the sound acquisition system.
A robot sound acquisition system should contain a set of properly arranged microphones,
a system of microphone signal conditioners (amplifiers/filters), and analog-digital converters. Unfortunately, there are no ready to use systems dedicated to the robot sound
acquisition systems. In the underneath subsections we present a short overview of robot
sound acquisition system components and briefly describe a testbed for such systems.
The sound emission task appears to be much easier than its acquisition. However, in
the case of sound systems for social robots some attention has to be put on the power
amplifier and loudspeaker parameters, such as power consumption, efficiency, sound
clarity. Moreover, the whole system dimensions are one of the crucial selection criteria.
In subsection 3.4.5 we characterise example loudspeaker/amplifier systems suitable for
the sound emission in the social robot case.
3.4.1. MICROPHONES
Omnidirectional electret microphones
Electret microphones are the most popular and universal microphone type. There are
many providers of these devices, however, comparing the parameters of different microphones one can conclude that they performance is quite similar and they can be
categorised in few classes. Below, there are given exemplary electret microphones types
utilised in experiments with a robot sound acquisition system.
Electret microphone BCM-9765P (Bestar Electronic Industry)
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Dimensions: φ9.7mm×4.5mm,
Directivity: omnidirectional,
Sensitivity: -44±2dB (at L=50cm, f=1kHz,
VS=3V, RL=2.2kΩ, 0dB=1V/Pa),
Frequency: 20–16000Hz,
Operating voltage: 1.5–10V,
S/N ratio: >60dB.
61
Electret microphone WM-55A103 (Panasonic)
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Dimensions: φ9.7mm×5.0mm,
Directivity: omnidirectional
Sensitivity: -47±4dB (at L=50cm, f=1kHz, VS=3V,
0dB=1V/Pa),
Operating voltage: 1.5–10V,
Current consumption: <0.5mA,
S/N ratio: >60dB.
Unidirectional dynamic microphones
There is a large set of different unidirectional dynamic microphones, unfortunately their
size practically precludes their application in a robotic companion. Below, there is
presented one, small size unidirectional microphone used during experiments with a robot
sound acquisition system. Worth noticing is the second presented microphone (MM216),
which is a special construction double microphone designed on purpose for using in
noisy environments, which actually is not real unidirectional microphones, but due to
its construction favours sounds coming from a single direction over surrounding sounds.
Dynamic microphone MDU 43 (Tonsil)
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Dimensions: φ21mm×48mm,
Directivity: unidirectional (cardioid),
Sensitivity: -62dB (0dB=1V/Pa)
Impedance: 200Ω,
S/N ratio: >60dB,
Web: http://www.skleptonsil.pl/go/_info/?id=767.mm
Differential microphone MM 216 (Tonsil)
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Dimensions: 22.7mm×11mm,
Directivity: omnidirectional,
Sensitivity: -62dB (0dB=1V/Pa)
Impedance: 600Ω,
S/N ratio: >60dB,
Web: http://www.skleptonsil.pl/go/_info/?id=777.
3.4.2. ANALOG SIGNAL CONDITIONING
Before microphone signals are digitalised they have to be amplified and filtered. In these
tasks operational amplifier circuits are utilised. The amplifier constructed for tests is
a two-stage amplifier with the first stage being differential. This allows for connecting two
microphones simultaneously, what can be used for the robot internal sounds cancellation.
The bandwidth of the amplifier is limited to the voice frequencies. Below two types of
operational amplifiers applied in the design are presented.
Operational amplifier TL072 (Texas Instruments)
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Bandwidth: 3√MHz,
Noise: 18 nV/ Hz,
Input bias current: 65 pA,
Supply voltage: ±9 to ±15 V (typical),
Web: http://focus.ti.com/lit/ds/symlink/tl072.pdf.
3.35. AMTEC A/D converters module
Operational amplifier AD823 (Analog Devices)
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Bandwidth: 16
√ MHz,
Noise: 16 nV/ Hz,
Input bias current: 3 pA,
Supply voltage: ±3 to ±30 V (typical),
Web: http://www.analog.com/static/imported-files/data_sheets/ad823.pdf.
3.4.3. A/D CONVERTERS
There is a large number of different A/D converters cards commercially available in the
market. Below we shortly characterise an A/D converters pc/104 module chosen for the
experiments.
PCM-3718H/HG multifunction module
PCM-3718H/HG (figure 3.35) is a 12-bit multifunction pc/104 module with programmable gain.
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16×single-ended or 8 differential analog inputs,
12-bit A/D converter, up to 100 kHz sampling rate with DMA transfer,
Two 8-bit digital input/output TTL level channels,
Input impedance: 10MΩ,
I/O connectors: 2x20pin box header,
Power consumption: 5V at 400mA,
Drivers: Windows and Linux (open source).
3.4.4. TESTBED FOR SOUND ACQUISITION SYSTEM
To experiment with the influence of the robot driving system din and the surrounding
noise on the robot sound acquisition system, and to analyse the properties of different
microphones and conditioners layouts, an experimental testbed has been prepared (see
figure 3.36). The main goals of the experiments are to eliminate the driving system
din, to emphasise the voice frequencies band, to extract sounds coming from the robot
environment, and to provide the necessary information for the sound localisation system.
3.4.5. LOUDSPEAKERS AND POWER AMPLIFIERS
Enormous number of different type loudspeakers and power amplifiers is present in the
market. While assembling a sound emission system for a robotic companion the dimensions and the power consumption of the loudspeaker-amplifier combination play vital
63
3.36. Layout of the testbed for sound acquisition system
role. Of course, the sound quality is not to be overlooked. Below, we present example
loudspeakers and amplifiers belonging to two different classes: the first, simple and
inexpensive devices, but providing quality sufficient for voice emission, and the second,
containing more sophisticated and expensive equipment, but small and of high quality.
MAC5310 + BAS8100 modules
The MAC5310 Audio Codec and Audio
Power Amplifier Module can be used as
an audio input/output interface. Together
with BAS8100 Speaker Module it forms
a complete audio channel. The speaker is
characterised by small size and sensible parameters sufficient for voice emission.
Modules parameters:
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High quality 16Bit audio ADC&DAC
codec,
Microphone preamplifier,
Power amplifier (1W at 8Ω),
Standard i2s interface,
Speaker power handling: 2W,
Speaker frequency response: 320–20000Hz,
Speaker impedance: 8Ω,
Manufacturer: Dr Robot Inc.,
Web: www.drrobot.com,
Price: ∼EUR 45.
Chopper amplifier module DK-DB00x
DK-DB00x is a family of D class audio amplifiers of high efficiency, reliable, shockproof, and small in size. They are different
from the traditional analog design which is bigger in size, heavier, and require radiators.
Amplifier parameters:
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Two channel, full audio frequency,
OEM module with a case,
Output power: 2W×2, 30W×2, 50W×2, 100W×2,
Frequency response: 20–20000Hz,
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Signal to noise ratio: >87dB, THD <1%,
Power supply: DC 5V/12V/16V/24V/30V,
Manufacturer: Shenzhen DKing Technology Co., Ltd.,
Web: www.chinadking.com, dking.en.alibaba.com/product/
50166083/51264106/Digital_Boxes/Digital_Amplifier_
Modul.html.
AM-S30d amplifier
AM-S30d is a two channel chopper amplifier. It offers high quality
parameters and small size simultaneously, its main advantage is 90%
efficiency.
Amplifier parameters:
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Two channel, full audio frequency,
OEM module without a case,
Output power: 2x20W (8Ω), 2x30W (4Ω),
Signal to noise ratio: >87dB, THD <0.05%,
Manufacturer: Flying Mole Co.,
Web: flyingmole.co.jp/new_en/index.html.
HiFi full range speaker Monacor SPH-30X/8
This full range HiFi speaker combines numerous highlights of the speaker
technology on a minimum of space: a Kevlar cone of extra low weight,
but nevertheless well damped, a motor system with full air ventilation, a
high-quality NEODYMIUM magnetic system with double magnet and a
newly developed basket, which provide good exposure in noisy environments
Speaker parameters:
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Dimensions: 80.5mm×80.5mm×42mm,
Output power: 20W,
Manufacturer: Monacor International GmbH & Co.,
Web: monacor.djshop.pl/_monacor/produkt/4916,monacor.html,
Price: EUR 30.
Because of a wide range of commercially available audio amplifiers and loudspeakers,
assembling of the robotic companion sound emission system is relatively simple to perform. Properly chosen loudspeakers with a power amplifier will do the job. The selection
will depend of the sound emission tasks: for voice emission cheap and popular solutions
would work, as for multimedia tasks more careful choice has to be made.
On the other hand, there are no commercially available, relevant and reliable sound
acquisition systems. Therefore, a specialised system should be designed to manage all
the disturbances issues. Admittedly, there is a wide suite of computer algorithms for
digital audio signals processing and mastering, but possibly all disturbances should be
eliminated at the source.
The robot sound acquisition system should contain a set of properly arranged microphones, a system of microphone signal conditioners, and analog-digital converters. A set
of omnidirectional microphones driving differential preamplifiers will help to eliminate
the robot din and to provide the necessary information for the sound localisation system. An additional, unidirectional microphone equipped with pan/tilt capability would
be desirable feature.
65
Chapter 4
Body specification of FLASH
This chapter presents a short characterisation of a tentative LIREC robotic companion
FLASH (Flexible LIREC Autonomous Social Helper). We begin with providing basic
technical features of the robot. Than, we shortly describe the construction of two main
hardware components: the mobile base and the hands.
The specification of the LIREC companion FLASH provided in this chapter results from
the requirements imposed on the robot by the robotic scenarios, and from an analysis of
existing social robots and robotic components accomplished in chapters 2 and 3. As a
conclusion, in this chapter we have defined the body of FLASH, made a recommendation
of the balancing mobile platform, and proposed a specific design of FLASH’s hands. Both
these components should be treated as preliminary prototypes that will be tested in small
scale experiments, and possibly re-designed in consequence of these experiments. The
remaining robot’s components, especially the visual and the auditory systems, so far
have not been defined uniquely. Instead, in chapter 3, we have formulated a number of
design recommendations that need to be refined in the course of further research.
4.1. BASIC TECHNICAL FEATURES
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Purpose: research platform, robotic companion,
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Components:
◦ mobile base,
◦ torso,
◦ head and neck,
◦ pair of hands,
◦ vision system,
◦ sound acquisition and emission systems,
◦ other sensor systems,
◦ on-board computers,
•
Operating conditions:
◦ Conducive indoor conditions,
◦ Daylight or lamplight illumination,
◦ Continuous Internet connection,
•
Mobility:
◦ Type: Wheeled, self-balancing,
◦ Sensors: Position measurement, obstacle detection, navigation,
◦ Autonomy: Obstacle avoidance and navigation to map-registered locations,
•
Manipulability:
◦ Type: Limited, with a pair of hands designed for gesticulation,
◦ Sensors: Position measurement, touch detection,
◦ Autonomy: Limited grasp?,
•
Communication:
◦ Human detection: Detection of persons, face detection,
◦ Individual recognition: Recognition of 1-2 persons, recognition of facial characteristics,
Chapter 4. Body specification of FLASH
◦
◦
Sound: Acquisition of surrounding sounds with directional, information and
voice band emphasis, sound emission with speech synthesis,
Body language: Recognition of gestures and facial expressions, gesticulation
and facial expression,
•
Hardware specification:
◦ Robot height: ∼1.2m,
◦ Robot diameter: ∼0.45m,
◦ Motion:
— Platform: self-balancing, class (2,0),
— Hands: even-gesticulating, 8 DOF each,
— Neck: lithe, 3 DOF,
— Head: expressive, max 20 DOF,
◦ I/O Systems:
— Visual: binocular stereo? with pan, tilt and zoom,
— Auditory: directional microphone, omnidirectional microphones array,
— Voice: loudspeaker,
◦ Power supply: lithium polymer battery,
•
Controller:
◦ CPU: multiprocessor configuration,
◦ Operating system: Linux,
◦ Control architecture: serial bus connection distributed processing based on
YARP.
4.2. BALANCING PLATFORM COSMOS
Following the recommendation from subsection 3.1.2, the robot FLASH should be equipped with a balancing mobile base dedicated to its functions and objectives. Besides of
being balancing, the base of FLASH should possess the following features:
•
•
•
•
•
lightweight and inexpensive,
safe and autonomous rolling and balancing,
open, modifiable control and communication architecture,
integrability under YARP,
adaptability to migration.
Further on in this section we shall describe a prototype of such a platform designed at
WRUT.
The construction of Cosmos (the first prototype of WRUT balancing platform) is quite
simple. The name Cosmos reflects the first reaction of students who saw the platform
in motion: they have exclaimed: “what a cosmos”, which in the language of young
Polish people expresses a mixture of surprise and admiration. The platform has been
built using common low-tech electrical parts, standard airplane model wheels, and cheap
commercially available sensors. The view of Cosmos is presented in figure 4.1. The
platform consists of the following components:
•
•
•
•
•
•
•
•
•
68
main control unit with Freescale MPC555 CPU with touch screen 128x240px,
voltage converter with DAC,
double H bridge - a motor driver,
power supply module +5V, +6V,
internal navigation system (INS) with accelerometer, gyro and ADC,
24 key keyboard,
LiPoly pack 14,8 4800mAh,
two motors 12V Graupner 500E with gearbox,
two magnetic encoders AS5040.
4.2. Balancing platform Cosmos
4.1. Cosmos
4.2. Chassis
69
4.3. Sensors module
4.4. DC motor
Chassis
Cosmos has a 2 wheel, balancing mobile base. Its chassis has been made of aluminium,
the dimensions are displayed in figure 4.2. Due to simplicity of the design, all the
components can be installed quickly. All electronics modules, like controller, keyboard,
motor driver, power supply, etc. have been situated in the lower part of the Cosmos
body. Motors with gearbox and rotor-position sensors are fixed at the bottom. The
LiPoly battery is fixed in the middle part of the body.
Sensors
ADXRS150 Analog Devices digital rate gyroscope and a MMA7260 Freescale digital
3-axis accelerometer (see figure 4.3) have been installed on the platform in order to
measure the tilt angle of the platform as well as its angular velocity. The gyroscope
provides a measure of instantaneous angular change, but it produces a significant drift
when the gyroscope is operating. This may be due to the operating temperature or
inherent characteristics of the gyroscope itself. On the other hand, the inclinometer
provides an absolute measure of inclination, but the output signal is often corrupted
with noise. To overcome these problems a signal-level sensor fusion technique has been
used, based on the the Kalman filter. Two magnetic encoders are employed to measure
the position of each wheel.
Actuators
The actuation to balance the robot is provided by two widely used 500E DC motors
made by Graupner, Germany, shown in figure 4.4. Each motor has a gear reduction of
36:1, and a torque constant of 0.07 kgm/A. At the moment, the applied gearboxes show
an excessive backlash.
70
4.3. Arms and hands
4.5. Controller
Controller
PHYTEC phyCORE-MPC555 onboard module plays the role of the platform’s brainŹ.
The module consists of a powerful 32-Bit microcontroller PowerPC Freescale MPC555
(see figure 4.5) running at 40MHz, there is 1MB ROM and 1MB RAM onboard. MPC555
used in phyCORE-MPC555 is an advanced microcontroller with 64-bit float point unit,
2 channels QSPI interface, 2 SCI interfaces, 2 TPU3 and MIOS1 timers/counters blocks.
This allows that relatively large and computationally demanding programs be executed
efficiently. The controller is programmed in C. A user interface is realised by a touchscreen presented in figure 4.6.
Control algorithms
Control algorithms applied in balancing platforms should simultaneously steer the rolling
motion of the wheels and provide a stabilisation of the balancing movements of the platform. Temporarily, in Cosmos platform a common solution has been adopted, i.e. a
simple PID control for the wheels and a stabilisation algorithm based on the linearisation of the platform’s dynamics. Further research work has been undertaken toward
derivation and identification of a nonlinear model of the dynamics, and its employment
in the control algorithm. A general functional schematic of Cosmos has been displayed
in figure 4.7
4.3. ARMS AND HANDS
As we have concluded in the social robot hands overview, there is a need for designing
a robotic hand aimed to gesticulation. Below the hand construction designed for the
FLASH robot is outlined. On the design stage, the following assumptions have been
made:
•
•
•
•
•
•
•
design for gesticulation task,
not expensive, light construction,
safe and smooth movements,
easily controlled with a set of predefined gestures,
built of common, easily available elements,
reconfigurable,
open source and YARP based communication.
The construction (see figure 4.8) is characterised by the following parameters:
•
•
Complete arm with hand,
Bearing joints,
71
4.6. Touchscreen
4.7. Functional schematic of Cosmos
72
4.3. Arms and hands
4.8. Design of the FLASH hand and arm
4.9. Arm links connection
•
•
•
•
•
•
•
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5 high torque and high speed digital servos (Dynamixel), 3 lightweight micro servos,
Trajectory tracking, predefined gestures,
Physical parameters: total length ∼60cm, weight ∼1kg,
DOF: arm 5, hand 3,
Carrying components: carbon fiber tubes, aluminium elements,
Control system: distributed, PC/104 based, with limited force control,
Communication: internal RS485, external Ethernet powered by YARP,
Power supply: 18VDC.
The designed arm consists of 2 links connected via a single 1DOF joint (figure 4.9). The
arm is to be screwed to a robot body via 3DOF joint (figure 4.10), and is endowed with
another 1DOF joint, to which a hand can be mounted. The hand (fig 4.11) is formed
of four 1DOF fingers. The thumb and the index finger are driven by two separate
microservos. The other two fingers are driven by one, shared microservo.
73
4.10. Arm shoulder
4.11. Hand construction
4.4. CONCLUDING REMARKS
In conclusion, we want to emphasise the following features of robot FLASH:
•
•
•
•
•
•
74
FLASH
FLASH
FLASH
FLASH
FLASH
FLASH
is a flexible research platform with stable and believable behaviour,
is dedicated to the implementation of a long term robotic companion,
admits changeable embodiments,
provides a hardware base for an autonomous actor in robotic scenarios,
is adaptable to migration,
has open architecture, software, and documentation.

Toward a robotic companion design

Transcription

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