Anatomy of Humanoid Robots

16-264 Humanoids 2017 Spring

Akihiko Yamaguchi info@akihikoy.net
 Brain, Computing unit,
Control system

Power source

https://alumni.stanford.edu/get/page/
magazine/article/?article_id=67462

Sensors
https://alumni.stanford.edu/content/m
agazine/images/Building_A_Bot.pdf

Actuators, Output device

Examples of Actuators
https://en.wikipedia.org/wiki/Actuator
● Electric actuators (Motor: Electric energy --> Torque)
○ Pros: Easy to use
○ Used in: Baxter, Asimo, HRP-x,
● Hydraulic actuators (pump, valve, cylinder)
○ Linear, rotatory, oscillatory
○ Pros: Powerful
○ Used in: ATLAS, SARCOS Humanoid, Big Dog,
● Pneumatic actuators (compressor/vacuum, ...) https://en.wikipedia.org/wiki/H
ydraulic_cylinder
○ Pros: Compliant
● Thermal or Magnetic actuators
○ Shape memory materials
○ e.g. SMA (Shape memory alloy), Magnetic shape-memory alloy
Paget 271, Table 7.1,
Saeed B. Niku:
Introduction to
Robotics: Analysis,
Control, Applications,
Wiley, 2010
Electric actuators
● Electric motor
○ DC motor, AC motor
○ Reduction gear
○ Backlash
○ Harmonic drive
■ No backlash, high gear ratios, small, ...
■ See figures
○ Brushless motor
○ Servomotor
○ Encoder (e.g. Rotary, Linear)
○ ...
● Linear actuator (≠ Linear motor)
○ Used in: Computer peripherals
(Disk drives, Printers), 3D printers
Baxter's Actuators
Quoted from: http://sdk.rethinkrobotics.com/wiki/Arms

Image Credit: MIT Technology Review

Series Elastic Actuators (SEAs) are the actuation technique, or mechanism responsible for moving
the robot links. SEAs are an integral part of "what makes Baxter, Baxter".

Recommended Reading: Series Elastic Actuators (Rethink's own Matthew Williamson)

Series Elastic Actuators differ from traditional actuation techniques in that we

introduce a spring between the motor/gearing elements and the output of
the actuator. This results in "gains in stable, low noise force control, and
protection against shock loads".

Inherent safety is a characteristic of SEAs. The springs in these actuators are

deformable by human level inputs. This deflection is an inherent safety
mechanism.

Lastly, and perhaps most importantly, by introducing the spring element we are
now able to measure torque output from the actuator. This enables such things
as torque control, impedance control, and more!
Hydraulic Actuators
https://en.wikipedia.org/wiki/Hydraulic_drive_system
● Power source: hydraulic fluid pressure
● Typical components:
○ Mineral oil
○ Hydraulic pump
○ Hydraulic valves
○ Hydraulic cylinders

http://findhydraulic.com/
2016/01/22/how-to-
choose-a-best-ever-
hydraulic-cylinder-tube-
cross-and-clevis-end/
Example of Robots with Hydraulic Drive System

MegaBots
https://youtu.be/FdHfv7xa758
https://www.megabots.com/
Example of Robots with Hydraulic Drive System
Engaget, 10.29, 2014
Startup wants to raise $1.8 million to build giant fighting robots
https://www.engadget.com/2014/10/29/megabots-kickstarter/
Engaget, 06.30, 2015
Giant American robot wants to lay the smackdown on Japanese rival
https://www.engadget.com/2015/06/30/giant-american-robot-wants-to-smackdown-
japanese-rival/
Engaget, 07.06, 2015
Giant Japanese robot will fistfight America's MegaBot
https://www.engadget.com/2015/07/06/kuratas-versus-megabot-robot-duel/
Youtube, Jul 5, 2016
America vs Japan Kuratas vs Megabot | First Giant Robot Fight
https://youtu.be/Xz8SSASs4l0
Third law sports, Aug 2, 2016
What Happened to That Giant Robot Duel?
http://thirdlawsports.com/2016/08/02/happened-giant-robot-duel/
Example of Robots with Hydraulic Drive System
Kuratas
https://youtu.be/-
3MxuklTfzk
https://en.wikipedia.org/w
iki/Kuratas
http://suidobashijuko.jp/
Now on sale:
US$1,353,500
(¥134,555,495, or
€1,040,976)
http://amzn.asia/0LHC2o5
Pneumatic actuators
https://en.wikipedia.org/wiki/Pneumatic_actuator
● Compressed air to mechanical motion (rotary, linear)
● Typical components:
○ Air compressor
○ Valve
○ Pneumatic cylinder https://www.shadowrobot.com/
products/dexterous-hand/
● Pneumatic artificial muscles (Air Muscle)
○ McKibben Artificial Muscles (Joseph Laws McKibben 1957)
● Use in soft robot hand:
○ http://www.softroboticsinc.com/
○ https://youtu.be/gI0tzsO8xwc
http://www.rethinkrobotics.
○ https://youtu.be/uPx8xwRpfFk com/accessories/

● Use in Exoskeleton: https://youtu.be/BdoblvmTixA

More Actuators
http://thefutureofthings.com/4795-boston-dynamics-reveals-super-jumping-robot/
The Sand Flea uses a piston which is powered by CO2 and can propel the robot up to 25 times before it
needs to be recharged.
Example of Sensors
https://en.wikipedia.org/wiki/List_of_sensors
● Rotary encoder, Linear encoder
● Accelerometer
● Gyroscope
● IMU (inertial measurement unit)
● GPS https://www.hokuyo-
aut.jp/02sensor/07scan
● Force sensor, Torque sensor ner/urg_04lx.html

● Cameras (RGB, Infrared, Hyperspectral) http://velodynelid

ar.com/

● Depth sensor, RGB-D (e.g. Kinect)

● Laser rangefinder, Lidar
● Sonar
● Sound (Microphone)
Tactile sensor
https://en.wikipedia.org/wiki/Tactile_sensor
● Pressure sensors (e.g. CB2, PR2)
● Strain gauge
● BioTac can sense: Force, vibration, temperature https://www.syntouchinc.com/sen
sor-technology/
● Cellul.A.R.Skin (Gordon Cheng) BioTac
● Optical Skin

http://www.ics.ei.tum.de/en/research/area https://www.tum.de/en/about-
https://phys.org/news/2009-04-japan-child- tum/news/press-
robot-mimicks-infant.html s/artificial-skin/
releases/detail/article/32653/
How Do Robots Feel Taste?
● Taste
○ "The sensation of taste includes five established basic tastes: sweetness,
sourness, saltiness, bitterness, and umami"
○ Sweetness: Sugar content (brix) meter
○ Saltiness: Salinity meter
○ Sourness: Acidity meter
○ ...
● Smell (Olfaction)

http://ultrabio.ed.kyushu-u.ac.jp/en/research/taste_sensor.html
Network
● Signals, Power supply
● CAN bus (Controller Area Network) (Max: 1 Mbps)
● Ethernet, Gigabit Ethernet (1 Gbps)
● USB (USB 3.1: 10 Gbps)
● EtherCAT (Ethernet for Control Automation Technology)
● ...
Our Baxter System
http://sdk.rethinkrobotics.com/wiki/Arms
● Angle, torque (joints)
● Camera (head, wrists)
● Infrared range sensor (wrists)
● Accelerometer (wrists)
● Buttons http://www.rethinkrobotics.com/landing-page-
test/baxter-2/
● Sonar (head)
● Gripper: Standard parallel (R), Robotiq (L)
Extended
● Optical skin (fingertips)
● Stereo camera (right wrist)
● Depth sensor (Sentis M100, left wrist)
http://sdk.rethinkrobotics.com/wiki/Arms http://support.robotiq.com/
● Xtion (RGB-D, external) display/AGC/3.5+Wiring