LEONARDO (ROBOT)

BY MEENAKSHI GUPTA ROLL NO. -1216131076

INDEX Introduction CharacteristicsDesignHardwareSoftware Working Conclusion

INTRODUCTION Leonardo is a highly expressive robot research platform made in collaboration with Stan Winston Studio.

Leonardo does not resemble any real creature, but instead has the appearance of a fanciful being. Its face was designed to be expressive and communicative since it is a social robot. The fanciful, purposefully young look is supposed to encourage humans to interact with it in the same way they would with a child or pet.

PURPOSE The goal of creating Leonardo was to make a social robot. Its motors, sensors, and cameras allow it to mimic human expression, interact with limited objects, and track objects. This helps humans react to the robot in a more familiar way. Leonardo’s programming blends with psychological theory so that he learns more naturally, interacts more naturally, and collaborates more naturally with humans.

Characteristics Leonardo has 69 degrees of freedom — 32 of those are in the face alone. As a result, Leonardo is capable of near-human facial expression (constrained by its creature-like appearance). Although highly articulated, Leonardo is not designed to walk. Instead, its degrees of freedom were selected for their expressive and communicative functions. It can gesture and is able to manipulate objects in simple ways. Standing at about 2.5 feet tall, it is the most complex robot. Leonardo is the most expressive robot in the world today.

DESIGNThere are approximately sixty motors in the small space of the robot body that make the expressive movement of the robot possible.

A camera mounted in the robot’s right eye captures faces.

A buffer of up to 200 views of the face is used to create a model of the person whenever they introduce themself via speech.

Leonardo can track objects and faces visually using a collection of visual feature detectors that include color, skin tone, shape, and motion.

HARDWARECommercial motor-driver and motion-controller packages are designed with a completely different application in mind Both 8-axis and 16-axis control packages have been developed.4 of the 16-axis motor controller packages are used to control Leonardo. A single 8-axis package is used to control Robot Communication.

The motor drivers are standard FET H-bridges; recent advances in FET process technology permit surprisingly switching at relatively low (1-10kHz) frequencies reduces switching losses. The interference due to the low switching frequency (which is completely unacceptable for an organic looking robot) is eliminated by using a variable-mean spread-spectrum control signal, rather than traditional PWM.

LEARNINGLeonardo learns through spatial scaffolding. One of the ways a teacher teaches is by positioning objects near to the student that they expect the student to use. This same technique, spatial scaffolding, can be used with Leonardo, who is taught to build a sailboat from virtual blocks, using only the red and blue blocks. Whenever it tries to use a green block, the teacher pulls the “forbidden” color away and moves the red and blue blocks into the robot’s space. Leonardo learns, in this way, to build the boat using red and blue blocks only.Another way that Leo learns is by mimicry. The same way infants learn to understand and manipulate their world is helpful for the social robot. By mimicking human facial expressions and body movement, Leo can distinguish between self and other.

InteractingLeonardo has access to that help it interact naturally with humans.

Leonardo also can achieve something like empathy, however, by examining the data it gets from mimicking human facial expressions, body language, and speech. In a similar way, humans can understand what other humans might be feeling based on shared attention and perspective.

CollaboratingLeonardo can work together with a human to solve a common problem as much as his body allows. He’s more effective at working shoulder-to-shoulder with a human because of the theory of mind work that is blended with his programming.All of Leonardo’s social skills work together so it can work alongside humans. When a human asks it to do a task, it can indicate what it knows or doesn’t know and what it can and cannot do. Communicating through expression and gesture and through perceiving expression, gesture, and speech, the robot is able to work as part of a team.

Sensate SkinGiving the robot a sense of touch will be useful for detecting contact with objects, sensing unexpected collisions, as well as knowing when it is touching its own body. Other important tactile attributes relate to affective content—whether it is pleasure from a hug, a ticking gesture, or pain from someone grabbing the robot’s arm too hard, to name a few.

The goal of this project is to develop a synthetic skin capable of detecting temperature, proximity, and pressure with acceptable resolution over the entire body, while still retaining the look and feel of its organic counterpart.

Facial Expressions

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