Workshop on Mechanical Design of Humanoids
NEW!! You can download the collection of slides of the workshop (right clic on the link and select download, pdf file is about 20Mo).
The workshop took place at UPMC University (Paris) on Monday, December 7th 2009.
Organizers
- Dr. Sébastien Krut, LIRMM (CNRS), Montpellier, France
- Dr. Eng. Kenji Kaneko, HRG (AIST), Tsukuba, Japan
Thanks section
I would like to thank the following people for having helped me making that workshop become a great event:
- Prof. Fathi Ben Ouezdou, for encouraging me organizing that workshop;
- Dr. Eng. Kazuhito Yokoi for advising me to ask Dr. Eng. Kenji Kaneko to become a co-organizer;
- Dr. Eng. Kenji Kaneko, for helping me organizing that event, especially taking care of the speakers on the Asian side, and for his precious remarks all preparation long;
- All the invited speakers who gave a great talk during that event: Prof. Fathi Ben Ouezdou, Dr. Eng. Kenji Kaneko, Prof. Atsushi Konno, Prof. Giorgio Metta, Prof. Jun Oh, Prof. Atsuo Takanishi, Prof. Heinz Ulbrich, and Dr. Eng. Bram Vanderborght (Mr. Dongyong Jia was not able to join us, but I would like to thank him for his early contribution);
- And finally to all the people who attempted the session and contributed by their questions and comments to make the workshop become a friendly and dynamic moment!
Introduction
Due to their high complexity, humanoids are robotics systems that require special attention during their design. This workshop will present the challenges and potential solutions concerning humanoid mechanical design. We will discuss the state of the art and focus on new trends, such as improved design for better maintenance, new actuation principles to achieve higher performance, mechanical methodologies and performance requirements.
Goal
The goal of the proposed workshop is to gather specialists in the related fields to present the state of the art and new trends for humanoids mechanical design at IEEE Humanoids 2009.
Topics
Topics of this workshop will include:
- - State of the art in humanoid mechanical design
- - New trends for humanoid mechanical design
- - New technologies in humanoid mechanics
- - Mechanical design methodologies for humanoids
- - Assessment of humanoid mechanical capabilities
- - Modeling techniques for humanoid mechanics
- - Biologically inspired humanoid mechanical design
- - Modeling and simulation techniques for the development of new humanoid mechanics
Speakers
Speakers at this workshop will be (in alphabetic order):
- - Prof. Fathi Ben Ouezdou, LISV, France
- - Mr. Dongyong Jia, Beijing Institute of Technology, China
- - Dr. Eng. Kenji Kaneko, AIST, Japan
- - Prof. Atsushi Konno, Tohoku University, Japan
- - Dr. Sébastien Krut, LIRMM, France
- - Prof. Giorgio Metta, IIT, Italia
- - Prof. Jun Oh, KAIST, Korea
- - Prof. Atsuo Takanishi, Waseda Univ, Japan
- - Prof. Heinz Ulbrich, TUM, Germany
- - Dr. Eng. Bram Vanderborght, Vrije Universiteit Brussel, Belgium
Duration & Location
This workshop will last half a day. It will take place at the UPMC University (Paris), in the ISIR Laboratory, room H20, on Monday morning, December 7th 2009.
Schedule & Registration
13h00: beginning
18h15: end
Erratum: to be consistent with the program at a glance of the conference, the schedule for the workshop will be:
- 9h00: beginning
- 13h00: end
(30 min/speaker: 20 min talk + 10 min for questions)
To register, follow the registration link on the Humanoids2009 website.
Summaries
List of summaries (speakers in alphabetic order):
The HYDROïD Humanoid Robot: Modeling, Design & Realization
Fathi BEN OUEZDOU
Laboratoire d’Ingénierie des Systèmes de Versailles
University of Versailles, 10-12 Av. de l’Europe, 78140 Vélizy, France
E-mail: ouezdou @ lisv.uvsq.fr
Abstract — This paper presents the modeling and the design of the HYDROïD (HYdraulic anDROïD) humanoid robot. Our motivation related to the increase of understanding of human being locomotion and manipulation tasks achievement leads us to focus on the kinematical structure and the actuation aspects. The first part of this paper deals with a research work aimed to develop a new generation of three degrees of freedom (DOF) mechanism for humanoid robots. The main idea is to build hybrid 3DOF mechanism, which avoids the drawbacks of the serial and parallel mechanisms. The new solution has to merge the advantages of both classical (serial and parallel) structures in order to achieve optimal performances. The proposed mechanism can be used as a solution for several modules in humanoid robot such as ankle, hip, shoulder, wrist and neck. To illustrate our approach, the design of the ankle joint which is considered one of the more compact with high power capacity and low weight will be presented. The very important role played by this joint during walking, makes its design and control the first step of having a robust walking biped. The proposed solution fulfils the requirements induced by both geometrical and biomechanical constraints. In the second part, the paper will focus on the actuation of a humanoid robot, which is also still an open question and represents a big challenge. Demanding performances including high power to mass ratio, capability of producing high power at low speed within a small-occupied volume are some of the key issues that required careful consideration. These criteria aimed to increase autonomy of humanoid robots. A novel hydrostatic transmission actuator will be presented. The proposed actuator is controlled by displacement and has capacities for energy storage. This leads to an optimal solution in terms of power consumption. The input/output law of the proposed solution is detailed in order to show our ability to access to the payload “jerk”. The built prototype of HYDROïD robot and its properties are outlined. Finally, the preliminary results of the actuator performance and the 3DOF hybrid mechanism module are presented, demonstrating the novelty of the adopted solutions for HYDROïD robot.
Mechanical Design of a Light Weight and High Stiffness Arm for Humanoids
Dongyong JIA, Qiang HUANG
School of Mechatronical Engineering, Beijing Institute of Technology,
5 South Zhongguancun Street, Haidian District, Beijing 100081, P. R. China
E-mail: jiadongyong @ yahoo.com.cn
Abstract — This paper presents the design of the new arm for Humanoid robot BHR, which is characterized by its light weight construction, a modular, multi-sensory joint design with brushless motors and an electronics architecture using decentralized joint controllers. In the previous humanoid robots we developed we mainly focus on the biped walking control, path plan and high stiffness design of the limb. In the current project, we focus on the object manipulation of the arm, the arm will move fast with big end loads. So the weight and stiffness of the arm are the key factors. Modular design, Dynamic simulation, Finite element analysis were introduced to design it a light weight, high stiffness and compact arm. The method was proved to be useful in the design of new arm. And also the methods were used to develop the whole humanoid, the weight of the whole humanoid reduced a lot.
The HRP series Humanoid Robots of AIST
Kenji KANEKO
National Institute of Advanced Industrial Science and Technology
1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan
E-mail: k.kaneko @ aist.go.jp
Abstract — This paper presents the design of the HRP (humanoid robotics platform) series humanoid robots of AIST (National Institute of Advanced Industrial Science and Technology). AIST participated in the development of HRP-2 and HRP3. HRP-2 developed in the “Humanoid Robotics Project (HRP)” was used as a platform for R&D and showed the possibility of developing working humanoid roots. About 20 units have been put into use domestically and internationally so far. HRP-3, that is the succeeding model to HRP-2, showed the potential for use in the so-called 3D jobs (dirty, dangerous and demanding), with equipment offering dust-proof and drop-proof performance as well as excellent moving functions. Not only bipedal walking of humanoid robots but also the research on humanoid hand is carried out. In this paper, the HRP dexterous hand equipped with multi-fingers, which was developed towards expanding the possible application tasks of humanoid robots, is also presented together with the history of the HRP series humanoid robots.
A Gravitation Compensation Mechanism and a ZMP Sensor for Humanoid Robots
Atsushi KONNO
Department of Aerospace Engineering, Tohoku University
6-6-01 Aramaki-aza-Aoba, Aoba-ku, Sendai 980-8579, Japan
E-mail: konno @ space.mech.tohoku.ac.jp
Abstract — The talk deals with the design and development of a gravitation compensation mechanism and a ZMP sensor for humanoid robots. The performance of human size humanoid robots is strictly limited by the performance of the motors. The progress of the motors has not been remarkable compared with the progress of electronics. Therefore, a great progress in the performance of the motors cannot be expected, at least in the present circumstances. A gravitation compensation mechanism has been developed aiming to break through the limitation of the performance of the general biped robots. The mechanism reduces the load of the joint torque of the legs required to support the gravitational force of the whole body. The effectiveness of the gravity compensation mechanism was verified through squatting and walking experiments. Furthermore, a ZMP sensor for humanoid robots is presented in the talk. Generally, a 6-axis force sensor has been attached at the ankle to measure the ZMP. Such general 6-axis force sensor inevitably has rotational elasticity to measure the moment around the three axes. However the rotational elasticity may cause a stability problem, because the rotational elasticity brings serious positioning error at the distal end. The developed ZMP sensor is composed of multiple uniaxial load cells that are directly structuralized on the sole frame of both legs. Therefore, the ZMP sensor exhibits rotational rigidity.
Sherpa, a Biped Robot with Direct–Drive Capabilities and Parallel–Manner Actuation
Sébastien KRUT
LIRMM (CNRS – Montpellier University of Sciences)
161 rue Ada, 34392 Montpellier, France
E-mail: sebastien.krut @ lirmm.fr
Abstract — This talk is about Sherpa, a biped robot with (1) direct–drive capabilities, and (2) parallel-manner actuation. These two features tend to give the robot more human-like capabilities and improve walking capacities. Hence, direct-drive capabilities allow the robot to better interact with the environment (for instance, the robot can absorb shocks while walking), and parallel–manner actuation results in multi-dof (degree of freedom) driven joints with ad hoc performances (for instance, the torque delivered at the hip level is higher for flexion-extension than for abduction-adduction).
(1) Direct–drive capabilities are supported by (i) fully backdriveable actuators and (ii) a transparent dynamics between the actuators and the joints. Indeed, specific backdriveable actuators were designed based on high-torque electrical motors and high-pitch screws. Additionally, the mechanical transmission was designed based on pulleys and cables, which provides zero backlash, near-zero friction, and very light moving weight.
(2) Parallel-manner actuation allows decreasing the size of every motor, as several motors provide simultaneously their force on a same joint. Joints were designed to count more than one dof, providing performances in terms of motions and deliverable torques perfectly adapted to walking. This parallel design also results in better compactness and modularity.
In the talk, all these aspects will be addressed and analyzed.
The iCub humanoid robot: an open platform for research in embodied cognition
Giorgio METTA Giulio SANDINI |
David VERNON |
Lorenzo NATALE Francesco NORI |
Italian Institute of Technology and University of Genoa |
LIRA-Lab |
Italian Institute of Technology |
Abstract — We report about the iCub, a humanoid robot for research in embodied cognition. At 104 cm tall, the iCub has the size of a three and half year old child. It can crawl on all fours and sit up to manipulate objects. Its hands have been designed to support sophisticate manipulation skills. The iCub is distributed as Open Source following the GPL/FDL licenses.
The iCub has been developed by the RobotCub project, a collaborative effort funded by the European Commission under the sixth framework programme (FP6) by Unit E5: Cognitive Systems, Interaction and Robotics. It has the two-fold goal of: i) creating an open hardware/software humanoid robotic platform for research in embodied cognition, and ii) advancing our understanding of natural and artificial cognitive systems by exploiting this platform in the study of the development of cognitive capabilities.
The RobotCub stance on cognition posits that manipulation plays a fundamental role in the development of cognitive capabilities. As many of these basic skills are not ready-made at birth, but developed during ontogenesis, RobotCub aims at testing and developing this paradigm through the creation of a child-like humanoid robot: the iCub. This “baby” robot will act in cognitive scenarios, performing tasks useful for learning while interacting with the environment and humans. The small (104cm tall), compact size (approximately 22kg and fitting within the volume of a child) and high number (53) of degrees of freedom combined with the Open Source approach distinguish RobotCub from other humanoid robotics projects developed worldwide.
We focus here on the description of the iCub, both in terms of hardware and software. In particular, we will briefly discuss the rationale of the hardware design, the modularity and reuse of software components, and the consequences of the Open Source distribution policy.
The hardware of iCub has been specifically optimized and designed somewhat holistically: modularity in this case had to be traded for functionality and overall size. Software, on the other hand, has been designed with modularity and component reuse in mind. Both the hardware and software of the iCub have been released under the GPL and FDL licenses.
Additional initiatives are aiming at promoting the iCub as the platform of choice for research in embodied cognition. Nineteen robots are expected to be delivered by spring 2010 as part of RobotCub and of other EU funded projects.
Jun Ho OH
Korea Advanced Institute of Science and Technology
373-1 Gusong-Dong, Yusong-Gu, Daejon 305-701, Korea
E-mail: jhoh @ kaist.ac.kr
Abstract — Hubo, the first humanoid robot in Korea, was announced in 2004. Before Hubo, most of the research related on humanoid robot had been initiated by Japanese research group. It was considered that the humanoid robot development required long period of research time and big size of manpower with huge amount of budget. Hubo proved that such kind complicated project could be accomplished by a single laboratory in the university in a relatively short period of time with very limited fund. Recently improved version, Hubo II, has been developed. Major improvements are the 30 % off of weight reduction and two times faster movement speed compare to the original one. Hubo II achieved 45 kg of weight including exterior case and battery. It is light and fast enough to perform 3km/h running. This presentation will deliver how Hubo II was developed and what was the design strategy.
Anthropomorphic Mechanical Design of Waseda Humanoid Robots
Atsuo TAKANISHI
Department of Modern Mechanical Engineering, Waseda University
2-2, Wakamatsu-cho, Shinjuku-ku, Tokyo 162-8480, Japan
TWIns Room# 3C-202
E-mail: takanisi @ waseda.jp
Abstract — By constructing anthropomorphic/humanoid robots that function and behave like a human, the author and his colleagues are attempting to develop a design method of a humanoid robot having human friendliness to coexist with humans naturally and symbiotically, as well as to scientifically build not only the physical model of a human but also the mental model from the engineering view point. Based upon the research philosophy, we have been bulding humanoid robots, such as the biped walking humanoids as WABIAN(WAseda BIpedal humANoid) series, mastication humanoid heads as WJ(Waseda Jaw) series, musical merformance humanoids as WF(Waseda Flutist) series and WAS(WAseda Saxophinist) series, emotion expression humanoids as WE(Waseda Eye) series and KOBIAN(KObayashi’s waBIAN), speech poduction humanoid heads as WT(Waseda Talker) series, medical training humanoid heads as WKS(Waseda Kyotokagaku Airway) series, etc. This paper introduces methodologies of the mechanical design of some of the latest Waseda humanoid robots mentioned above in terms of required anthropomorphisms depending on the purposes of the robot applications.
Mechanical Design and Control of the Humanoid Robot LOLA
Heinz ULBRICH
Institute of Applied Mechanics, Technical University Munich
Boltzmannstrasse 15, 85748 Garching, GERMANY
ulbrich @ amm.mw.tum.de
Abstract - Significant advances in actuator, sensor and computer technology during the past years play an important role in the realization of sophisticated humanoid robots. In contrast to JOHNNIE, the new robot LOLA has a modular, multi-sensory joint design with brushless motors. Moreover, the previously purely central electronics architecture is replaced by a network of decentralized joint controllers, sensor data acquisition and filtering units and a central PC. The fusion of motor, gear and sensors into a highly integrated mechatronic joint module has several advantages, including high power density, good dynamic performance and reliability. To enable an optimal lightweight design, motor and drive sizing, an appropriate simulation model is required. Dynamics simulation is a key tool to develop the hardware and control design properly. Due to the complexity of biped walking robots, simulation times can be quite high. It is therefore important to identify the key components in modeling the system so that the phenomena of interest can be correctly predicted at a reasonable numerical cost. For designing LOLA a detailed model and a significantly faster, reduced model were developed. For hardware and detailed dynamic analysis the comprehensive model which includes motor and gear dynamics etc. is needed. For realizing the real-time control the reduced model is suitable. The procedure and the relating tasks to realize an optimal design of LOLA will be shown and the important issues will be addressed in this paper. The realized robot will also be demonstrated by a short video clip.
Using Compliant Actuators in the Mechanical Design of Humanoids
Bram VANDERBORGHT
Vrije Universiteit Brussel (VUB) - Pleinlaan 2, 1050 Brussels, Belgium
Italian Institute of Technology (IIT) - Via Morego 30, 16163 Genova, Italy
E-mail: bram.vanderborght @ vub.ac.be
URL: http://mech.vub.ac.be/bram.htm
Abstract — Since a humanoid robot has typically many degrees of freedom, actuation of a robot is a serious problem for the mechanical design. Typically electrical motors are used with a gearbox and high gain PD control to track precisely desired trajectories. Regarding safety this is not interesting because in case of a collision the total inertia of the robot is felt. Also for energy efficiency stiff actuators are not interesting because no motion energy can be stored and released. For the advancement of the new generation of humanoid robots, new actuators are important. The biological counterpart is the muscle tendon structure which has functional performance characteristics and a neuro-mechanical control system that has far superior capabilities. One of the key differences of biological systems is their adaptable compliance or variable stiffness. An emerging research field in robotics is the development of such variable impedance actuators. This presentation will present the state of the art and discuss advantages and disadvantages. Also will be shown how they are or will be implemented in robots as the bipedal walking robot Lucy, the huggable robot Probo and the humanoid robot iCub.
A compliant actuator allows deviations from its own equilibrium position, depending on the applied external force. The equilibrium position of a compliant actuator is defined as the position of the actuator where the actuator generates zero force or zero torque. Passive compliant actuators contain an elastic element, e.g. a spring which can store energy, which is not the case for actuators with active compliance, where the controller of a stiff actuator mimics the behavior of a spring. Adaptable compliant actuators can change the compliance during normal operation. Adaptable passive actuators can further be divided according to their working principle in actuators with “Equilibrium Controlled Stiffness”, “Antagonistic Controlled Stiffness”, “Structure Controlled Stiffness” and “Mechanically Controlled Stiffness”. Although different designs of compliant actuators are currently under investigation, the ultimate design combining a stiffness range from completely stiff to zero stiffness, lightweight and compact, and easy to control has not yet been invented.
Material
No proceedings are expected, only a collection of abstracts. We do consider seriously the potential for a special issue in a leading robotics journal collecting papers from this workshop.