2015-09-07

1

Robot Technology andThe Future

카이스트 기계공학과휴머노이드 로봇 연구센터 센터

오준호 교수

2

ASIMO - Honda

2015-09-07

2

3

Intelligent Robot Application

• Home service robot

• Medical robot

• Military robot

• Robot in hazardous environment

• Entertainment robot

• Rehabilitation robot

4

Big Dog ,2008USA, Boston Dynamics

Military Robot

2015-09-07

3

5

Military Robot

Vecna Bear

6

HAL, 2007(Hybrid Assistive Limb)Japan, CYBERDYNE ltd. ```

Wearable Robot

2015-09-07

4

7

Wearable Robot

8

Wearable Robot

2015-09-07

5

9

Wearable Robot

10

Monkeys control robotswith brain power

Univ. of Pittsburgh

Bio Robots

2015-09-07

6

11

Da Vici robotUSA, Intuitive Surgical Inc.

Surgical Robot

12

Increasedcomputing power

Increasedcomputing power

Hard real-timelinux system(xenomai)

Hard real-timelinux system(xenomai)

Various sensor acceptablehead mechanism

Various sensor acceptablehead mechanism

Stereo vision systemStereo vision system

Smaller motor controllerwith torque control algorithm

Smaller motor controllerwith torque control algorithm

Powerful 7DOFarm design

Powerful 7DOFarm design

End-effector changeablemechanism

End-effector changeablemechanism

Power gripperPower gripper

3-axis FT sensor with increased sensing range3-axis FT sensor with

increased sensing range

More durable batteryMore durable battery

3-axis IMU3-axis IMU

High friction materialHigh friction material

Powerful knee jointPowerful knee joint

Extended legExtended leg

Protection shell(duralumin)

Protection shell(duralumin)

DARPA Robotics Challenge

2015-09-07

7

13

• Supervision– Defense Advanced Research Project Agency – DARPA(미국 방위고등연구기획국)

• Purposes– To generate groundbreaking research and development so that future robotics

can perform the most hazardous activities in future disaster(like Fukushima disaster) response operations, in tandem with their human counterparts, in order to reduce casualties, avoid further destruction, and save lives.

DARPA Robotics Challenge

Chimp(Carnegie Mellon University)

14

DARPA Robotics Challenge

Atlas(Boston Dynamics & DARPA)

Robosimian(NASA)

Walk-Man(IIT)

Jaxon(Univ. of Tokyo)

HRP+(AIST)

2015-09-07

8

15

DARPA Robotics Challenge

DARPA Robotics Challenge

2015-09-07

9

17

DARPA Robotics Challenge

l We have to do more and more….

18

3.1 Balance between Supervisory & Autonomy3.1 Balance between Supervisory & Autonomy

> Supervisory : Where to go and direction

Case - Movement

2015-09-07

10

19

> Supervisory : Set Valve ROI range

Case - Task

20

Drill recognition Valve recognition Terrain recognition

Vision recognition result

2015-09-07

11

Robot Technology and the Challenge

Evolution of RobotIndustrial Robot

(1960’s)

• Working in structured environment

• Pre-scheduled motion(simple & repeating)

• Machine-Robot interaction

• Simple technology

Intelligent Service Robot(21 century)

• Working in unstructured environment

• Autonomous motion

• Human-Robot interaction

• Technology convergence– RT+BT+NT+etc

2015-09-07

12

Customer's expectation Vs. Technology level

Customer's expectation

Technology level

Technology Level

timeMarket emerging Market explodingTech. Introduced

Customer's expectation Vs. Technology level

Technology Level

time

RT, BT, NT

IT

2015-09-07

13

Customer's expectation in various application

time

Technology Level

Medical / special purposeEntertainment

Welfare / SilverLimited serviceUltimate service

Present time

Technology

Keywords for future technology application

§ Networks – wireless (Ubiquitous)

§ Intelligence – autonomous

§ Mobility – physical contact

§ Human friendly

§ Coexisting

Robot & Related Technology

2015-09-07

14

Robot & Robotization

Robot : New device for specific application

Robotization : Embedding robotic function into existing device

• Robotic spacecraft

• Robotic vacuum cleaner

• Robotic automobile

• Robotic refrigerator

- Flexibility- Intelligence- Mobility / Manipulation

[Ex]

Intelligent Robots

Perception

Autonomy Mobility

CognitionPerception

Action

Cognition

ComputationalIntelligence

2015-09-07

15

Dilemmas

•Autonomy

•Mobility

Mobility

Autonomy

HomeAutomation

C.G,

Animation

HomeServiceRobot

Automobile

Toy Robo

t

Monitoring,

ARS

SpaceRobot

SurgeryRobot

Industrial

Robot

Customized actuators& sensors

Industrial actuators& sensors

Artificial muscles& smart sensors

Programming

Navigation

Recognition& Induction

HRI

HCI

Cybernetics

A.I.

Intelligent Service Robot

Autonomy & Mobility

Rehabilitatio

n

MilitaryRobot

Jun Ho Oh, 2008

Games

2015-09-07

16

Thank you J

DARPA Robotics Challenge