Domi 2.0 and the Full Body Tactical Navigation Suit

Doesn’t ring a bell?

稍微提醒一下：• The Suit 記錄人的動作，機器人就會跟著人動作• 重點是 The Suit 跟機器人的動作一直同步• 機器人被環境動或者不能跟人一樣快動做的話， The Suit 不會讓人動，而會把機器人的動作投影到人的身上• (Almost) Full Feedback System

Two Models

• P for Personal

• M for Military

The Suit

The Suit and it's workstation• The suit needs to be worn in a special room and requires an

external computer for most (if not all) computation• The computer needs to be external to keep the suit's weight to a

minimum• The wearer might have to hang in mid-air, so that leg-movement

would not actually move him• Data from the suit is received, evaluated and then passed on to

the robot• The synchronization data from the robot is also received by the

computer and after evaluation and verification -including safety checks- passed on to the suit

• Main issue: Synchronization

Joints and freedoms of movementCorresponds to human anatomy:• Neck• Shoulders• Elbows• Wrists• Waist• Fingers (depends on the type of robot; there might be robots

that has fangs or guns for hands)• (Spine is only needed if relative robot position cannot be

computed by the state of the joints)• (Knees, Ankles)

Material Requirements

• Light• Flexible• Very Durable• Must be able to act out force on the wearer

but also comfortable to wear• Joints must be reinforced since they have to

counter possible resisting forces of the wearer to actually move her

Possibly multi-layered:

• “Soft layer” of cloth that feels soft on the skin• “Hard layer” that synchronizes the wearer’s

movement with the robot’s• Motion-capturing layer (if necessary)

The “Hard Layer”

用 carbon-based 材料跟古老的鎖子甲設計：• Light• Flexible• Very Durable

Positioning system

• Relative positioning is done through motion capturing

• Positions must have a 1:1 relation between suit and robot

• For example, if the robot arm has a different length than the suit wearer’s arm, the position of elbow and hand would have to be scaled accordingly

Motion Capturing

• Visual vs. non-visual• Visual approaches require very expensive

sensors (cameras)• Non-visual approaches require heavier markers,

thus increasing overall weight of the suit• Optimal would be an approach without markers

but that would require much more complex algorithms

Safety switches to protect the wearer

• The suit must not force the wearer into positions that could potentially hurt the wearer of the suit

• In that situation, emulation must be cut off and synchronization (temporarily) disabled

• Sanity checks:– Don't emulate destruction (i.e. the robot loses an arm)– Don't emulate strong impacts (i.e. the robot gets hit by a vehicle)– Don't follow if the angle of a joint is too steep for human anatomy (i.e. an arm is

bent behind the back)• Scale cut-off values with age and overall health of the wearer• Consider injuries that might restrict wearer's ability to move freely• Test all extreme values every time carefully, when putting on the suit and

before starting the emulation• Maybe use brainwave monitoring to determine levels of pain, and prevent

the wearer from harm

Safety switches to protect the robot

• The robot might have a restricted anatomy• Some (maybe special-purpose) robots might for

example not be able to move their arms away from the body

• This can be implemented by not letting the wearer assume those positions

• The suit should halt and restrict the wearer’s movement at the maximum angles which the robot supports

The Suit’s Power Supply

• Batteries vs. wires• Batteries are heavier• Wires imply restricted movement and

possible safety hazards (imagine the wearer gets entangled in the wires)

The Robot

ComponentsComponent Purpose Details

Head Sensors Eyes: CamerasEars: MicrophoneNose: Automatic gas analyzer (for M version)(Consider: Stereo vs. Mono)

Arms & Hands Interaction Interact with environment

Torso Control Special purpose electronics for AIComponent interfaces and controllers

下半身 Movement Can be either of:• Legs & Feet• Wheels• Fins• Jet engines

The Robot’s State• 速度• 加速度• 重量跟重心 (constant)• 方向• 剩餘能源• 各 component 的狀態 ( 開關、效能、模式、溫度 )• 手的話 要知道肩、肘、腕、指等關節的角度、手掌相對身體及環境的位置• 腳要知道髖關節 (?)• 膝蓋• 腳踝的角度

軍用款 ( 步兵 )

能源來源：核融合 nuclear散熱：液態氮頭• 干擾系統• 紅外線夜視• 高倍率鏡頭下半身?

材質 : 奈米隱形材質

手• 砲彈• 手槍軀幹• AI 自動瞄準• 陣型分析、火• 力分析

能源來源• 備用方案：太陽能• 主要方案：油電混合• 。。。。。

Robot AI

• 通訊有問題的時候機器人還是要會做基本功能• 軍用款的 AI 可以幫助軍人把動作最佳化• 。。。。。

Robot Fuel Considerations

• 下次！

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