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密 級(jí) 分類號(hào) 編 號(hào) 成 績 本科生畢業(yè)設(shè)計(jì) 論文 外 文 翻 譯 原 文 標(biāo) 題 Multi degree of freedom walking robot up 譯 文 標(biāo) 題 多自由度步行機(jī)器人 作者所在系別 機(jī)電工程學(xué)院 作者所在專業(yè) 機(jī)械設(shè)計(jì)制造及其自動(dòng)化 作者所在班級(jí) B13113 作 者 姓 名 李明 作 者 學(xué) 號(hào) 20134011327 指導(dǎo)教師姓名 陳明 指導(dǎo)教師職稱 教授 完 成 時(shí) 間 2017 年 3 月 北華航天工業(yè)學(xué)院教務(wù)處制 共 20 頁 第 0 頁 譯文標(biāo)題 多自由度步行機(jī)器人 原文標(biāo)題 Multi degree of freedom walking robot up 作 者 Masayuki INABA 譯 名 美男雅之 國 籍 日本 原文出處 University of Tokyo 譯文 多自由度步行機(jī)器人 摘要 在現(xiàn)實(shí)生活中設(shè)計(jì)一款不僅可以倒下而且還可以站起來的機(jī)器人靈活智能 機(jī)器人很重要 本文提出了一種兩臂兩足機(jī)器人 即一個(gè)模仿機(jī)器人 它可以步 行 滾動(dòng)和站起來 該機(jī)器人由一個(gè)頭 兩個(gè)胳膊和兩條腿組成 基于遠(yuǎn)程控制 設(shè)計(jì)了雙足機(jī)器人的控制系統(tǒng) 解決了機(jī)器人大腦內(nèi)的機(jī)構(gòu)無法與無線電聯(lián)系的 問題 這種遠(yuǎn)程控制使機(jī)器人具有強(qiáng)大的計(jì)算頭腦和有多個(gè)關(guān)節(jié)輕盈的身體 該 機(jī)器人能夠保持平衡并長期使用跟蹤視覺 通過一組垂直傳感器檢測是否跌倒 并通過兩個(gè)手臂和兩條腿履行起立動(dòng)作 用實(shí)際例子對(duì)所開發(fā)的系統(tǒng)和實(shí)驗(yàn)結(jié)果 進(jìn)行了描述 1 引言 隨著人類兒童的娛樂 對(duì)于設(shè)計(jì)的雙足運(yùn)動(dòng)的機(jī)器人具有有站起來動(dòng)作的能 力是必不可少 為了建立一個(gè)可以實(shí)現(xiàn)兩足自動(dòng)步行的機(jī)器人 設(shè)計(jì)中感知是站 立還是否躺著的傳感器必不可少 兩足步行機(jī)器人它主要集中在動(dòng)態(tài)步行 作為一種先進(jìn)的控制問題來對(duì)待它 3 4 5 然而 在現(xiàn)實(shí)世界中把注意力集中在智能反應(yīng) 更重要的是創(chuàng)想 而不 是一個(gè)不會(huì)倒下的機(jī)器人 是一個(gè)倒下來可以站起來的機(jī)器人 為了建立一個(gè)既能倒下又能站起來的機(jī)器人 機(jī)器人需要傳感系統(tǒng)就要知道 它是否跌倒或沒有跌倒 雖然視覺是一個(gè)機(jī)器人最重要的遙感功能 但由于視覺 系統(tǒng)規(guī)模和實(shí)力的限制 建立一個(gè)強(qiáng)大的視覺系統(tǒng)在機(jī)器人自己的身體上是困難 的 如果我們想進(jìn)一步要求動(dòng)態(tài)反應(yīng)和智能推理經(jīng)驗(yàn)的基礎(chǔ)上基于視覺的機(jī)器人 行為研究 那么機(jī)器人機(jī)構(gòu)要輕巧足以夠迅速作出迅速反應(yīng) 并有許多自由度為 了顯示驅(qū)動(dòng)各種智能行為 至于有腿機(jī)器人 6 7 8 只有一個(gè)以視覺為基礎(chǔ)的小 小的研究 9 面臨的困難是在基于視覺有腿機(jī)器人實(shí)驗(yàn)研究上由硬件的顯示所限 制 共 20 頁 第 1 頁 在有限的硬件基礎(chǔ)上是很難繼續(xù)發(fā)展先進(jìn)的視覺軟件 為了解決這些問題和推進(jìn) 基于視覺的行為研究 可以通過建立遠(yuǎn)程腦的辦法 身體和大腦相連的無線鏈路 使用無線照相機(jī)和遠(yuǎn)程控制機(jī)器人 因?yàn)闄C(jī)體并不需要電腦板 所以它變得更加 容易建立一個(gè)有許多自由度驅(qū)動(dòng)的輕盈機(jī)身 在這項(xiàng)研究中 我們制定了一個(gè)使用遠(yuǎn)程腦機(jī)器人的環(huán)境并且使它執(zhí)行平衡 的視覺和起立的手扶兩足機(jī)器人 通過胳膊和腿的合作 該系統(tǒng)和實(shí)驗(yàn)結(jié)果說明 如下 圖 1 遠(yuǎn)程腦系統(tǒng)的硬件配置 圖 2 兩組機(jī)器人的身體結(jié)構(gòu) 2 遠(yuǎn)程腦系統(tǒng) 遠(yuǎn)程控制機(jī)器人不使用自己大腦內(nèi)的機(jī)構(gòu) 它留大腦在控制系統(tǒng)中并且與它 用無線電聯(lián)系 這使我們能夠建立一個(gè)自由的身體和沉重大腦的機(jī)器人 身體和 大腦的定義軟件和硬件之間連接的接口 身體是為了適應(yīng)每個(gè)研究項(xiàng)目和任務(wù)而 設(shè)計(jì)的 這使我們提前進(jìn)行研究各種真實(shí)機(jī)器人系統(tǒng) 10 一個(gè)主要利用遠(yuǎn)程腦機(jī)器人是基于超級(jí)并行計(jì)算機(jī)上有一個(gè)大型及重型顱腦 共 20 頁 第 2 頁 雖然硬件技術(shù)已經(jīng)先進(jìn)了并擁有生產(chǎn)功能強(qiáng)大的緊湊型視覺系統(tǒng)的規(guī)模 但是硬 件仍然很大 攝像頭和視覺處理器的無線連接已經(jīng)成為一種研究工具 遠(yuǎn)程腦的 做法使我們?cè)诨谝曈X機(jī)器人技術(shù)各種實(shí)驗(yàn)問題的研究上取得進(jìn)展 另一個(gè)遠(yuǎn)程腦的做法的優(yōu)點(diǎn)是機(jī)器人機(jī)體輕巧 這開辟了與有腿移動(dòng)機(jī)器人 合作的可能性 至于動(dòng)物 一個(gè)機(jī)器人有 4 個(gè)可以行走的四肢 我們的重點(diǎn)是基 于視覺的適應(yīng)行為的 4 肢機(jī)器人 機(jī)械動(dòng)物 在外地進(jìn)行試驗(yàn)還沒有太多的研究 大腦是提出的在母體環(huán)境中通過接代遺傳 大腦和母體可以分享新設(shè)計(jì)的 機(jī)器人 一個(gè)開發(fā)者利用環(huán)境可以集中精力在大腦的功能設(shè)計(jì)上 對(duì)于機(jī)器人的 大腦被提出在一個(gè)母體的環(huán)境 它可以直接受益于母體的 演變 也就是說 當(dāng)母體升級(jí)到一個(gè)更強(qiáng)大的計(jì)算機(jī)時(shí)該軟件容易獲得權(quán)利 圖 1 顯示了遠(yuǎn)程腦系統(tǒng)由大腦基地 機(jī)器人的身體和大腦體界面組成 在遠(yuǎn) 程腦辦法中大腦和身體接觸面之間的設(shè)計(jì)和性能是關(guān)鍵 我們目前的執(zhí)行情況采 取了完全遠(yuǎn)程腦的辦法 這意味著該機(jī)體上沒有電腦芯片 目前系統(tǒng)由視覺子系 統(tǒng) 非視覺傳感器子系統(tǒng)和運(yùn)動(dòng)控制子系統(tǒng)組成 一個(gè)障礙物可以從機(jī)器人機(jī)體 的攝像機(jī)上接收視頻信號(hào) 每個(gè)視覺子系統(tǒng)由平行放置的 8 個(gè)顯示板組成 一個(gè)機(jī)體僅有一個(gè)運(yùn)動(dòng)指令信號(hào)和傳輸傳感器的信號(hào)的接收器 該傳感器信息從 視頻發(fā)射機(jī)傳輸 傳輸其他傳感器的信息是可能的 如觸摸和伺服錯(cuò)誤通過視頻 傳輸?shù)男盘?hào)整合成一個(gè)視頻圖像 11 該驅(qū)動(dòng)器是包括一個(gè)模擬伺服電路和接收 安置器的連接模塊 離子參考價(jià)值來自于動(dòng)作接收器 該動(dòng)作控制子系統(tǒng)可以通 過 13 個(gè)波段處理多達(dá) 104 個(gè)驅(qū)動(dòng)器和每 20 兆秒發(fā)送參考價(jià)值的所有驅(qū)動(dòng)器 3 兩個(gè)手和足的機(jī)器人 圖 2 顯示了兩個(gè)手和足的機(jī)器人的結(jié)構(gòu) 機(jī)器人的主要電力組成部分是連接 著伺服驅(qū)動(dòng)器控 制信號(hào)接收器定位傳感器 發(fā)射機(jī) 電池驅(qū)動(dòng)器 傳感器和一 個(gè)攝像頭 視頻發(fā)射機(jī) 沒有電腦板 伺服驅(qū)動(dòng)器包括一個(gè)齒輪傳動(dòng)電動(dòng)機(jī)和伺 服電路模擬的方塊 控制信號(hào)給每個(gè)伺服模塊的位置參考 扭矩伺服模塊可覆蓋 2Kgcm 1 4Kgcm 的速度約 0 2sec 60deg 控制信號(hào)傳輸無線電路編碼的 8 個(gè)參 考值 該機(jī)器人在圖 2 中有兩個(gè)接收器模塊在芯片上以控制 16 個(gè)驅(qū)動(dòng)器 圖 3 說明了方向傳感器使用了一套垂直開關(guān) 垂直開關(guān)是水銀開關(guān) 當(dāng)水銀 開關(guān) a 是傾斜時(shí) 下拉關(guān)閉的汞之間接觸的兩個(gè)電極 方向傳感器安裝兩個(gè) 汞開關(guān) 如圖顯示在 b 項(xiàng) 該交換機(jī)提供了兩個(gè)比特信號(hào)用來檢測 4 個(gè)方向 共 20 頁 第 3 頁 的傳感器如圖所示在 c 項(xiàng) 該機(jī)器人具有在其胸部的傳感器并且它可以區(qū)分 四個(gè)方向 面朝上 面朝下 站立和顛倒 該機(jī)體的結(jié)構(gòu)設(shè)計(jì)和模擬在母親環(huán)境 下 該機(jī)體的運(yùn)動(dòng)學(xué)模型是被描述面向一個(gè)口齒不清的對(duì)象 這使我們能夠描述 幾何實(shí)體模型和窗口界面設(shè)計(jì)的行為 圖 3 傳感器的兩個(gè)水銀定位開關(guān) 圖 4 顯示遠(yuǎn)程腦機(jī)器人的一些環(huán)境項(xiàng)目分類 這些分類為擴(kuò)大發(fā)展各種機(jī) 器人提供了豐富的平臺(tái) 4 基于視覺的平衡 該機(jī)器人可以用兩條腿站起來 因?yàn)樗梢愿淖儥C(jī)體的重心 通過控制踝關(guān) 節(jié)的角度 它可以進(jìn)行靜態(tài)的兩足行走 如果地面不平整或不穩(wěn)定 在靜態(tài)步行 期間機(jī)器人必需控制她的身體平衡 為了視覺平衡和保持移動(dòng)平穩(wěn) 它要有高速的視覺系統(tǒng) 我們已經(jīng)用相關(guān)的 芯片 13 制定了一項(xiàng)跟蹤視覺板 這個(gè)視覺板由帶著特別 LSI 芯片 電位 14 運(yùn) 動(dòng)估計(jì)處理器 擴(kuò)張轉(zhuǎn)換器組成 與執(zhí)行本地圖像塊匹配 共 20 頁 第 4 頁 圖 4 層次分類 圖 5 步行步態(tài) 該輸入處理器是作為參考程序塊和一個(gè)圖像搜索窗口形象 該大小的參考程 序塊可達(dá) 16 16 像素 該大小的搜索窗口取決于參考?jí)K的大小通常高達(dá) 32 32 像 素 以便它能夠包括 16 16 且匹配 該處理器計(jì)算價(jià)值 256 薩赫勒 總和絕對(duì) 差 之間的參考?jí)K和 256 塊在搜索窗口 還找到最佳匹配塊 這就是其中的最低 薩赫勒價(jià)值 當(dāng)目標(biāo)平移時(shí)塊匹配是非常有力的 然而 普通的塊匹配方法當(dāng)它旋轉(zhuǎn)時(shí)無 法跟蹤目標(biāo) 為了克服這一困難 我們開發(fā)了一種新方法 跟隨真正旋轉(zhuǎn)目標(biāo)的 候選模板 旋轉(zhuǎn)模板法首先生成所有目標(biāo)圖像旋轉(zhuǎn) 并且?guī)讉€(gè)足夠的候選參考模 板被選擇并跟蹤前面圖的場景相匹配 圖 5 展示了一個(gè)平衡實(shí)驗(yàn) 在這個(gè)實(shí)驗(yàn)中 機(jī)器人站在傾斜的木板上 機(jī)器人視覺跟蹤著前面的場景 它會(huì)記住一個(gè)物體垂 直方向作為視覺跟蹤的參照并產(chǎn)生了旋轉(zhuǎn)圖像的參考圖象 如果視覺跟蹤的參考 對(duì)象使用旋轉(zhuǎn)圖像 它可以衡量身體旋轉(zhuǎn) 為了保持身體平衡 機(jī)器人的反饋 共 20 頁 第 5 頁 控制其身體旋轉(zhuǎn)來控制中心機(jī)體的重心 旋轉(zhuǎn)視覺跟蹤 15 可以跟蹤視頻圖像率 圖 6 雙足步行 該輸入處理器是作為參考程序塊和一個(gè)圖像搜索窗口形象 該大小的參考程 序塊可達(dá) 16 16 像素 該大小的搜索窗口取決于參考?jí)K的大小通常高達(dá) 32 32 像 素 以便它能夠包括 16 16 且匹配 該處理器計(jì)算價(jià)值 256 薩赫勒 總和絕對(duì) 差 之間的參考?jí)K和 256 塊在搜索窗口 還找到最佳匹配塊 這就是其中的最低 薩赫勒價(jià)值 當(dāng)目標(biāo)平移時(shí)塊匹配是非常有力的 然而 普通的塊匹配方法當(dāng)它旋轉(zhuǎn)時(shí)無 法跟蹤目標(biāo) 為了克服這一困難 我們開發(fā)了一種新方法 跟隨真正旋轉(zhuǎn)目標(biāo)的 候選模板 旋轉(zhuǎn)模板法首先生成所有目標(biāo)圖像旋轉(zhuǎn) 并且?guī)讉€(gè)足夠的候選參考模 板被選擇并跟蹤前面圖的場景相匹配 圖 5 展示了一個(gè)平衡實(shí)驗(yàn) 在這個(gè)實(shí)驗(yàn)中機(jī)器人站在傾斜的木板上 機(jī)器人 視覺跟蹤著前面的場景 它會(huì)記住一個(gè)物體垂直方向作為視覺跟蹤的參照并產(chǎn)生 了旋轉(zhuǎn)圖像的參考圖象 如果視覺跟蹤的參考對(duì)象使用旋轉(zhuǎn)圖像 它可以衡量身 體旋轉(zhuǎn) 為了保持身體平衡 機(jī)器人的反饋控制其身體旋轉(zhuǎn)來控制中心機(jī)體的 重心 旋轉(zhuǎn)視覺跟蹤 15 可以跟蹤視頻圖像率 共 20 頁 第 6 頁 圖 6 雙足步行 圖 7 雙足步行實(shí)驗(yàn) 5 雙足步行 如果一個(gè)雙足機(jī)器人可以自由的控制機(jī)器人的重心 它可以執(zhí)行雙足行走 展示在圖 7 的機(jī)器人在腳踝的位置有以左和以右的角度 它可以在特定的方式下 執(zhí)行雙足行走 該一個(gè)周期的一系列運(yùn)動(dòng)由八個(gè)階段組成 如圖 6 所示 一個(gè) 步驟包括四個(gè)階段 移動(dòng)腳的重力中心 抬腿 向前移動(dòng) 換腿 由于身體被描 述用實(shí)體模型 根據(jù)重心參數(shù)機(jī)器人可以產(chǎn)生一個(gè)機(jī)構(gòu)配置移動(dòng)重力中心 這一 運(yùn)動(dòng)后 機(jī)器人可以抬起另一條腿并且向前走 在抬腿過程中機(jī)器人必須操縱機(jī) 構(gòu)配置 以保持支持腳上的重心 依賴于重心的高度作為平衡的穩(wěn)定性 機(jī)器人 選擇合適的膝蓋角度 圖 7 顯示了一系列雙足機(jī)器人行走的實(shí)驗(yàn) 6 滾動(dòng)和站立 圖 8 顯示了一系列滾動(dòng) 坐著和站起來的動(dòng)作 這個(gè)動(dòng)作要求胳膊和腿之間 的協(xié)調(diào) 共 20 頁 第 7 頁 由于步行機(jī)器人有一個(gè)電池 該機(jī)器人可使用電池的重量做翻轉(zhuǎn)動(dòng)作 當(dāng)機(jī) 器人抬起左腿 向后移動(dòng)左臂且右臂向前 它可以得到機(jī)體周圍的旋轉(zhuǎn)力矩 如 果身體開始轉(zhuǎn)動(dòng) 右腿向后移動(dòng)并且左腳依賴臉部返回原來位置 翻滾運(yùn)動(dòng)身體 的變化方向從仰視到俯視 它可通過方向傳感器核查 得到正面朝下的方向后 向下移動(dòng)機(jī)器人的手臂以坐在兩個(gè)腳上 這個(gè)動(dòng)作 引起了雙手和地面之間的滑動(dòng) 如果手臂的長度不夠達(dá)到在腳上的身體重心 這 個(gè)坐的運(yùn)動(dòng)要求有手臂來推動(dòng)運(yùn)動(dòng) 站立運(yùn)動(dòng)是被控制的 以保持平衡 圖 8 一系列滾動(dòng)和站立運(yùn)動(dòng) 圖 9 具有起身能力的雙足步行機(jī)器人的狀態(tài)轉(zhuǎn)換 7 通過集成傳感器網(wǎng)絡(luò)轉(zhuǎn)型的綜合 為了使上述描述的基本動(dòng)作成為一體 我們通過一種方法來描述一種被認(rèn)為 是根據(jù)傳感器狀況的網(wǎng)絡(luò)轉(zhuǎn)型 圖 9 顯示了綜合了基本動(dòng)作機(jī)器人的狀態(tài)轉(zhuǎn)移圖 兩足行走 滾動(dòng) 坐著和站立 這種一體化提供了機(jī)器人保持行走甚至跌倒時(shí)的 能力 普通的雙足行走是由兩步組成 連續(xù)的左腿在前和右腿在前 這個(gè) 共 20 頁 第 8 頁 姿勢 依賴于背部和臉部 和 站立 是一樣的 也就是說 機(jī)器人的機(jī)體形 狀是相同的 但方向是不同的 該機(jī)器人可以探測機(jī)器人是否依賴于背部或面部使用方向傳感器 當(dāng)機(jī)器人 發(fā)覺跌倒時(shí) 它改變了依賴于 背部或腹部 通過移動(dòng)不確定姿勢的狀況 如果 機(jī)器人 依賴于背部 起來 一系列的動(dòng)作將被計(jì)劃執(zhí)行 翻轉(zhuǎn) 坐下和站立 動(dòng)作 如果這種情況是 依賴于臉部 它不執(zhí)行翻轉(zhuǎn)而是移動(dòng)手臂執(zhí)行坐的 動(dòng)作 8 結(jié)束語 本文提出了一個(gè)兩手臂的可以執(zhí)行靜態(tài)雙足行走 翻轉(zhuǎn)和站立動(dòng)作的機(jī)器人 建立這種行為的關(guān)鍵是遠(yuǎn)程腦方法 正如實(shí)驗(yàn)表明 無線技術(shù)允許機(jī)體自由移動(dòng) 這似乎也改變我們概念化機(jī)器人的一種方式 在我們的實(shí)驗(yàn)室已經(jīng)發(fā)展一種新的 研究環(huán)境 更適合于機(jī)器人和真實(shí)世界的人工智能 這里提出的機(jī)器人是一個(gè)有腿的機(jī)器人 我們的視覺系統(tǒng)是基于高速塊匹 配功能實(shí)施大規(guī)模集成電路的運(yùn)動(dòng)估算 視覺系統(tǒng)提供了與人交往作用的機(jī)體活 力和適應(yīng)能力 機(jī)械狗表現(xiàn)出建立在跟蹤測距的基礎(chǔ)上的適應(yīng)行為 機(jī)械類人猿 已經(jīng)表明跟蹤和記憶的視覺功能和它們?cè)诨?dòng)行為上的綜合 一個(gè)兩手臂機(jī)器人的研究為智能機(jī)器人研究提供了一個(gè)新的領(lǐng)域 因?yàn)樗?的各種行為可能造成一個(gè)靈活的機(jī)體 遠(yuǎn)程腦方法將支持以學(xué)習(xí)為基礎(chǔ)行為的研 究領(lǐng)域 下一個(gè)研究任務(wù)包括 如何借鑒人類行為以及如何讓機(jī)器人提高自身的 學(xué)術(shù)行為 共 20 頁 第 9 頁 外文原文 Multi degree of freedom walking robot Masayuki INABA Fumio KANEHIRO Satoshi KAGAMI Hirochika INOUE Department of Mechano Informatics The University of Tokyo 7 3 l Hongo Bunkyo ku 113 Tokyo JAPAN Abstract Focusing attention on flexibility and intelligent reactivity in the real world it is more important to build not a robot that won t fall down but a robot that can get up if it does full down This paper presents a research on a two armed bipedal robot an apelike robot which can perform biped walking rolling over and standing up The robot consists of a head two arms and two legs The control system of the biped robot is designed based on the remote brained approach in which a robot does not bring its own brain within the body and talks with it by radio links This remote brained approach enables a robot to have both a heavy brain with powerful computation and a lightweight body with multiple joints The robot can keep balance in standing using 共 20 頁 第 10 頁 tracking vision detect whether it falls down or not by a set of vertical sensors and perform getting up motion colaborating two arms and two legs The developed system and experimental results are described with illustrated real examples 1 Introduction As human children show it is indispensable to have capability of getting up motion in order to learn biped locomotion In order to build a robot which tries to learn biped walking automatically the body should be designed to have structures to support getting up as well as sensors to know whether it lays or not When a biped robot has arms it can perform various behaviors as well as walking Research on biped walking robots has presented with realization 1 2 3 It has mainly focused on the dynamics in walking treating it as an advanced problem in control 3 4 5 However focusing attention on the intelligent reactivity in the real world it is more important to build not a robot that won t fall down but a robot that can get up if it does fall down In order to build a robot that can get up if it falls down the robot needs sensing system to keep the body balance and to know whether it falls down or not Although vision is one of the most important sensing functions of a robot it is hard to build a robot with a powerful vision system on its own body because of the size and power limitation of a vision system If we want to advance research on vision based robot behaviors requiring dynamic reactions and intelligent reasoning based on experience the robot body has to be lightweight enough to react quickly and have many DOFS in actuation to show a variety of intelligent behaviors As for the legged robot 6 7 8 there is only a little research on vision based behaviors 9 The difficulties in advancing experimental research for vision based legged robots are caused by the limitation of the vision hardware It is hard to keep developing advanced vision software in limited hardware In order to solve the problems and advance the study of vision based behaviors we have adopted a new approach through building remote brained robots The body and the brain are connected by wireless links by using wireless cameras and remote controlled actuators As a robot body does not need computers on board it becomes easier to build a lightweight bodywith many DOFS in actuation In this research we developed a two armed bipedal robot using the remote brained robot environment and made it to perform balancing based on vision and getting up through cooperating arms and legs The system and experimental results are described below 共 20 頁 第 11 頁 2 The Remote Brained System The remote brained robot does not bring its own brain within the body It leaves the brain in the mother environment and communicates with it by radio links This allows us to build a robot with a free body and a heavy brain The connection link between the body and the brain defines the interface between software and hardware Bodies are designed to suit each research project and task This enables us advance in performing research with a variety of real robot systems 10 A major advantage of remote brained robots is that the robot can have a large and heavy brain based on super parallel computers Although hardware technology for vision has advanced and produced powerful compact vision systems the size of the hardware is still large Wireless connection between the camera and the vision processor has been a research tool The remote brained approach allows us to progress in the study of a variety of experimental issues in vision based robotics Another advantage of remote brained approach is that the robot bodies can be lightweight This opens up the possibility of working with legged mobile robots As with animals if a robot has 4 limbs it can walk We are focusing on vision basedadaptive behaviors of 4 limbed robots mechanical animals experimenting in a field as yet not much studied The brain is raised in the mother environment in herited over generations The brain and the mother environment can be shared with newly designed robots A developer using the environment can concentrate on the functional design of a brain 共 20 頁 第 12 頁 For robots where the brain is raised in a mother environment it can benefit directly from the mother s evolution meaning that the software gains power easily when the mother is upgraded to a more powerful computer Figure 1 shows the configuration of the remote brained system which consists of brain base robot body and brain body interface In the remote brained approach the design and theperformance of the interface between brain and body is the key Our current implementation adopts a fully remotely brained approach which means the body has no computer onboard Current system consists of the vision subsystems the non vision sensor subsystem and the motion control subsystem A block can receive video signals from cameras on robot bodies The vision subsystems are parallel sets each consisting of eight vision boards A body just has a receiver for motion instruction signals and a transmitter for sensor signals The sensor information is transmitted from a video transmitter It is possible to transmit other sensor information such as touch and servo error through the video transmitter by integrating the signals into a video image 11 The actuator is a geared module which includes an analog servo circuit and receives a position reference value from the motion receiver The motion control subsystem can handle up to 104 actuators through 13 wave bands and send the reference values to all the actuators every 20msec 3 The Two Armed Bipedal Robot Figure 2 shows the structure of the two armed bipedal robot The main electric components of the robot are joint servo actuators control signal receivers an orientation sensor with transmitter a battery set for actuators and sensors sensor and a camera with video transmitter There is no computer on board A servo actuator includes a geared motor and analog servo circuit in the box The control signal to each servo module is position reference The torque of servo modules available cover 2Kgcm 14Kgcm with the speed about 0 2sec 60deg The control signal transmitted on radio link encodes eight reference values The robot in figure 2 has two receiver modules onboard to control 16 actuators Figure 3 explains the orientation sensor using a set of vertical switches The vertical switch is a mercury switch When the mercury switch a is tilted the drop of mercury closes the contact between the two electrodes The orientation sensor mount two mercury switches such as shown in b The switches provides two bits signal to detect four orientation of the sensor as shown in c The robot has this sensor at its chest and it can distinguish four orientation face up face down standing and upside down The body structure is designed and simulated in the mother environment The kinematic model of the body is described in an object oriented lisp Euslisp which has enabled us to describe the geometric solid model and window interface for behavior design Figure 4 shows some of the classes in the programming environent for remote brained robot written in Euslisp The hierachy in the classes provides us with rich facilities for extending development of various robots 共 20 頁 第 13 頁 4 Vision Based Balancing The robot can stand up on two legs As it can change the gravity center of its body by controling the ankle angles it can perform static bipedal walks During static walking the robot has to control its body balance if the ground is not flat and stable In order to perform vision based balancing it is re quired to have high speed vision system to keep ob serving moving schene We have developed a tracking vision board using a correlation chip l3 The vision board consists of a transputer augmented with a special LSI chip MEP 14 Motion Estimation Processor which performs local image block matching The inputs to the processor MEP are an image as a reference block and an image for a search window The size of the reference blsearch window depends on the size of the reference block is usually up to 32 by 32 pixels so that it can include 16 16 possible matches The processor calculates 256 values of SAD sum of absolute difference between the reference block and 256 blocks in the search window and also finds the best matching block that is the one which has the minimum SAD value Clock is up to 16 by 16 pixels The size of the search window depends on the size of the 共 20 頁 第 14 頁 reference block is usually up to 32 by 32 pixels so that it can include 16 16 possible matches The processor calculates 256 values of SAD sum of absolute difference between the reference block and 256 blocks in the search window and also finds the best matching block that is the one which has the minimum SAD value Block matching is very powerful when the target moves only in translation However the ordinary block matching method cannot track the target when it rotates In order to overcome this difficulty we developed a new method which follows up the candidate templates to real rotation of the target The rotated template method first generates all the rotated target images in advance and several adequate candidates of the reference template are selected and matched is tracking the scene in the front view It remembers the vertical orientation of an object as the reference for visual tracking and generates several rotated images of the reference image If the vision tracks the reference object using the rotated images it can measures the body rotation In order to keep the body balance the robot feedback controls its body rotation to control the center of the body gravity The rotational visual tracker l5 can track the image at video rate 共 20 頁 第 15 頁 5 Biped Walking If a bipedal robot can control the center of gravity freely it can perform biped walk As the robot shown in Figure 2 has the degrees to left and right directions at the ankle position it can perform bipedal walking in static way The motion sequence of one cycle in biped walking consists of eight phases as shown in Figure 6 One step consists offourphases move gravity center on foot lift leg move forward leg place leg As the body is described in solid model the robot can generate a body configuration for move gravity center on foot according to the parameter of the hight of the gravity center After this movement the robot can lift the other leg and move it forward In lifting leg the robot has to control the configuration in order to keep the center of gravity above the supporting foot As the stability in balance depends on the hight of the gravity center the robot selects suitable angles of the knees Figure 7 shows a sequence of experiments of the robot in biped walking 6 Rolling Over and Standing Up Figure 8 shows the sequence of rolling over sitting and standing up This motion requires coordination between arms and legs As the robot foot consists of a battery the robot can make use of the weight of the battery for the roll over motion When the robot throws up the left leg and moves the left arm back and the right arm forward it can get rotary moment around the body If the body starts turning the right leg moves back andthe left foot returns its position to lie on the face This rollover motion changes the 共 20 頁 第 16 頁 body orientation from face up to face down It can be verified by the orientation sensor After getting face down orientation the robot moves the arms down to sit on two feet This motion causes slip movement between hands and the ground If the length of the arm is not enough to carry the center of gravity of the body onto feet this sitting motion requires dynamic pushing motion by arms The standing motion is controlled in order to keep the balance 7 Integration through Building Sensor Based Transition Net In order to integrate the basic actions described above we adopted a method to describe a sensor based transition network in which transition is considered according to sensor status Figure 9 shows a state transition diagram of the robot which integrates basic actions biped walking rolling over sitting and standing up This integration provides the robot with capability of keeping walking even when it falls down The ordinary biped walk is composed by taking two states Left leg Fore and Right leg Fore successively The poses in Lie on the Back and Lie on the Face are as same as one in Stand That is the shape ofthe robot body is same but the orientation is different The robot can detect whether the robot lies on the back or the face using the orientation sensor When the robot detects falls down it changes the state to Lie on the Back or Lie on the Front by moving to the neutral pose If the robot gets up from Lie on the Back the motion sequence is planned to execute Roll over Sit and Stand up motions If the state is Lie on the Face it does not execute Roll over but moves arms up to perform the sitting motion 共 20 頁 第 17 頁 8 Concluding Remarks This paper has presented a two armed bipedal robot which can perform statically biped walk rolling over and standing up motions The key to build such behaviors is the remote brained approach As the experiments have shown wireless technologies permit robot bodies free movement It also seems to change the way we conceptualize robotics In our laboratory it has enabled the development of a new research environment better suited to robotics and real world AI The robot presented here is a legged robot As legged locomotion requires dynamic visual feedback control its vision based behaviors can prove the effectiveness of the vision system and the remote brained system Our vision system is based