We present the system overview and integration of the ASIMO autonomous robot that can function successfully in indoor environments. The first model of ASIMO is already being leased to companies for receptionist work. In this paper, we describe the new capabilities that we have added to ASIMO. We explain the structure of the robot system for intelligence, integrated subsystems on its body, and their new functions. We describe the behavior-based planning architecture on ASIMO and its vision and auditory system. We describe its gesture recognition system, human interaction and task performance. We also discuss the external online database system that can be accessed using internet to retrieve desired information, the management system for receptionist work, and various function demonstrations.

The intelligent ASIMO: system overview and integration

A development of humanoid robot HRP-2 is presented in this paper. HRP-2 is a humanoid robotics platform, which we developed in phase two of HRP. HRP was a humanoid robotics project, which had run by the Ministry of Economy, Trade and Industry (METI) of Japan from 1998FY to 2002FY for five years. The ability of the biped locomotion of HRP-2 is improved so that HRP-2 can cope with uneven surface, can walk at two third level of human speed, and can walk on a narrow path. The ability of whole body motion of HRP-2 is also improved so that HRP-2 can get up by a humanoid robot's own self if HRP-2 tips over safely. In this paper, the appearance design, the mechanisms, the electrical systems, specifications, and features upgraded from its prototype are also introduced.

Humanoid robot HRP-2

A mobile robot guest for interacting with a human resident performs a room-traversing search procedure prior to interacting with the resident, and may verbally query whether the resident being sought is present. Upon finding the resident, the mobile robot may facilitate a teleconferencing session with a remote third party, or interact with the resident in a number of ways. For example, the robot may carry on a dialogue with the resident, reinforce compliance with medication or other schedules, etc. In addition, the robot incorporates safety features for preventing collisions with the resident; and the robot may audibly announce and/or visibly indicate its presence in order to avoid becoming a dangerous obstacle. Furthermore, the mobile robot behaves in accordance with an integral privacy policy, such that any sensor recording or transmission must be approved by the resident.

Companion robot for personal interaction

In this paper, the development of humanoid robot HRP-3 is presented. HRP-3, which stands for Humanoid Robotics Platform-3, is a human-size humanoid robot developed as the succeeding model of HRP-2. One of features of HRP-3 is that its main mechanical and structural components are designed to prevent the penetration of dust or spray. Another is that its wrist and hand are newly designed to improve manipulation. Software for a humanoid robot in a real environment is also improved. We also include information on mechanical features of HRP-3 and together with the newly developed hand. Also included are the technologies implemented in HRP-3 prototype. Electrical features and some experimental results using HRP-3 are also presented.

Humanoid robot HRP-3

A remote controlled robot system that includes a robot and a remote control station. The robot includes a binaural microphone system that is coupled to a speaker system of the remote control station. The binaural microphone system may include a pair of microphones located at opposite sides of a robot head. the location of the microphones roughly coincides with the location of ears on a human body. Such microphone location creates a mobile robot that more effectively simulates the tele-presence of an operator of the system. The robot may include two different microphone systems and the ability to switch between systems. For example, the robot may also include a zoom camera system and a directional microphone. The directional microphone may be utilized to capture sound from a direction that corresponds to an object zoomed upon by the camera system.

Mobile tele-presence system with a microphone system

This paper proposes the integrated motion control method to make a bipedal humanoid walk, jump and run. This method generates dynamically consistent motion patterns in real-time based on the concept of the dynamics filter, which assures that the force and the moment generated by the robot can equilibrate with that caused by the environment. The validity of the algorithm is verified by the dynamic simulation. The proposed method is applied to the real humanoid "QRIO" under the adaptive controls, and stable walking, jumping and running including the transitions between them are realized.

Integrated motion control for walking, jumping and running on a small bipedal entertainment robot

SDR-4X is the latest prototype model, which remains a small humanoid type robot and is expanding its capabilities for the adaptability in home environment. Some of the new key technologies have been developed for SDR-4X. The first is newly developed small robot actuators named ISA-4, the second is real-time integrated adaptive motion control. The third is a motion creating software system, which allows us to create SDR's attractive motion performances. The fourth technology is real-time real-world space perception, and the fifth is multi-modal human robot interaction. These five technologies enable to realize a capable robot that can be adopted with human in home environment. In addition, we have explored and developed entertainment applications using these technologies. A cappella chorus performance and a high-tempo dance performance are introduced as the attractive applications.

A small biped entertainment robot exploring attractive applications

A useful robot device is provided which includes communication means for its operation based on information transferred to and form an extenal device. A useful information processing system can be realized by designing the robot device so that it may recognize user's states based on sensors provided around the user and respond to the results of recognition.

Robot and information processing system

We propose a small biped entertainment robot, SDR-3X (a prototype Sony Dream Robot) which enables the motion entertainment, i.e., entertaining people with its controlled dynamic motion performances. Some of the new key technologies have been developed to realize the SDR-3X. One is the newly developed robot actuator named intelligent servo actuator (ISA). The ISA is the trine-actuator composed of a motor unit, a built-in control unit and a gear unit. The ISA features dynamic and high power output from a small, lightweight actuator. Another technology is the whole body coordinated dynamic motion control method. It realizes stable biped walking and stable whole-body dynamic motion performances.

A small biped entertainment robot

In this paper we describe the autonomous behavior control architecture of SDR-4X, which serves to integrate multi-modal recognition and motion control technologies. We overview the entire software architecture of SDR-4X, which is composed of perception, short and long term memory, behavior control, and motion control parts. Regarding autonomous behavior control, we further focus on issues such as spontaneous behavior generation using a homeostasis regulation mechanism, and a behavior control/selection mechanism with tree-structured situated behavior modules. In the autonomous behavior control architecture, we achieve three basic requirements, which are the concurrent evaluation of the situation of each behavior module, concurrent execution of multiple behavior modules, and preemption (behavior interruption/resume capability). Using the autonomous behavior control architecture described, we demonstrate that SDR-4X can spontaneously and passively interact with a human.

Yoshihiro Kuroki

Papers

Integrated motion control for walking, jumping and running on a small bipedal entertainment robot

A small biped entertainment robot exploring attractive applications

Robot and information processing system

A small biped entertainment robot

Autonomous behavior control architecture of entertainment humanoid robot SDR-4X