[Skolkovo Robotics V] Applying Anthropomorphic Robots Technology

1
APPLYING ANTHROPOMORPHIC ROBOTS
TECHNOLOGY
Abderrahmane KHEDDAR
CNRS-AIST Joint Robotics Laboratory, UMI 3218/RL, Japan
CNRS-UM2 LIRMM, Interactive Digital Human team, France
kheddar@lirmm.fr
21/04/2017 SKOLKOVO ROBOTICS 2017

Labs
• CNRS-UM LIRMM – IDH and CNRS-AIST JRL
Montpellier
Tsukuba

Humanoid Robots
21/04/2017 SKOLKOVO ROBOTICS 2017 3

Humanoid Robots
• OK but what are they useful for?

Applications
• Challenging robotic research

Applications
• Challenging neuroscience and embodiment research

Applications
• Entertainment, reception…

Applications
• Services (companion)
– ISO/TS 15066

Applications
• Disaster applications

Applications
• Manufacturing applications

Applications
– Will not be discussed
– Focus on humanoid-human physical interaction
• Manufacturing applications

Humanoid research challenges
• Basic research
– Mostly common to the general robotics research
• Control, planning, perception, SLAM, etc.
• Anthropomorphism specific issues
– Dynamic walking on any terrains
– Multi-contact motion and manipulation
– Whole-body dynamic control (high dynamics)
– Unilateral contact in under-actuation
– Physical interaction with humans
– Androids (human) appearance and acceptability
– Safe falling and recovering
– Mechatronic design and embedded systems

Multi-contact planning & control

Embodiment of humanoids
• Embodiment
– Body possession: what does my body means (neuroscience)
– Intention recognition (brain waves signal processing)
– Sensory-based embodiment (physiological signal processing)
– Embodiment and consciousness (ethics, philosophy)
– Human-robot interaction, robotic surrogates (robotics)
– Beyond telepresence
• Science of embodiment using humanoid robots
• Thought-based control of humanoid robots

Thought-based control / Embodiment

Embodiment understanding
• Patients implanted with ECoG
– Prof. Kamada, Neurosurgery
Dpt. Asahikawa MD HP
• The real challenge
– Get the thought not stimulate
responses
– Use shared control and not
dictate space trajectories
– Generate robot motion as
expected by the embodied
person
• Contribution to the
understanding of
– What self means
– Consciousness
– How pertinent is thought-based
control of complex systems
– Brain functions

Human-humanoid pHRI
• Collaborative humanoid robots
– Humanoid robots as helpers
– Social image: assistant not replacing a human
– New kind of closeness
• General issues: beyond anthropomorphic design
– Shared objects / direct touch
– Dynamic role exchange/switching no a priori distribution
– Human intention recognition
• Humanoid additional issues
– Dynamic walking under sustained forces and task postural
constraints
• Synchronization in speed, overall stability, safety.
– Human perception (lateral, behind the humanoid)

Collaborative carrying

HH pHRI using combined cues

Humanoid for frail persons assistance
http://www.projetromeo.com with ALDEBARAN SoftBank

Disaster and rescue humanoids
• Started by the Japanese program after the Fukushima
disaster (11 March 11)
• Boosted by the US DARPA robotics challenge
– 8 tasks to be achieved
– The final competition day shows how far we are still from it
• The scientific and research challenge
– Outdoor / indoor with poor perceptual capabilities
– Non-structured environments
– Manipulating human tools and driving human utility cars
– Climbing ladders and negotiating rubbles
– Robustness and reliability of the planning / control methods
– Software integration
• Probably the biggest and hardest challenge in robotics

Example: autonomous driving

Manufacturing humanoid robots
• Where and why this is to be considered?
• What are the requirements?
• The Glory factory (Saitama, Japan) case study
• The Airbus Group projects

Floor shops (1)

Floor shops (2)

Other floor shops (3)

Airbus Group interest
• As can be seen from floor shops
– Mobile robots cannot access Cargo and other areas
– Railed-ported robotic arms not possible
– Robot must work inside product
• Not like in car company
– To go from one level to the other
• Use of stairs/ladders
• Constraint
– Share workspace with human workers
– Share same tools with human workers

Known environment full CAD

The Projects
• 2015-01-01 COMANOID EU project (4 years)
– Show that a humanoid can reach all airplane spots
– Technologies: Multi-contact planning and control, SLAM,
whole-body multi-modal perception and control, safety, falling.
• 2016-01-01 CNRS-AIST-AIRBUS joint research
program (4 years-
– Focus on manipulation in confined spaces
– Investigate the provider of the manufacturing humanoid robot
for Airbus Group
– 4 use cases of increasing complexity

JRP: example of confined space
30
All these tasks will be performed where
it is impossible to send a wheeled
robot
For all cases, the operators, the
aircraft and the robot integrity must
be ensured
All these tasks will be performed
in confined spaces where it is
uncomfortable or dangerous
to work

JRP use cases
Circuit breaker
automation
Hydrofuge
protection &
cleaning
Torqueing
automation
System installation
Robot skills &
capabilities

Robot skills &
capabilities

Robot skills &
capabilities

Robot skills &
capabilities

- Very constrained
environment
- Collision avoidance
- Stability
- In line tool trajectory
re-planning
- Stability
- Torque and force
control
- Stability
- Torque and force
control
- Flexible object
manipulation

A400M access case

End-phase function testing

Falling
• Active compliance

Challenging manufacturing humanoids
?
?

Manufacturing humanoids
• Very reliable walking
• Programmable falling strategies
• Highly intrinsically safe
• Reliable localization strategies
• Embedded power?
• Embedded sensing
– Flexible covers, RGB-D…
• Other applications
– Large scale manufacturing
– Shipyards building, building constructions, etc.
– Human-humanoid pHRI

The team
• Hervé Audren
• Anastasia Bolotnikova
• Karim Bouyarmane
• Stanislas Brossette
• Stéphane Caron
• Kévin Chappellet
• Adrien Escande
• Pierre Gergondet
• François Keith
• Sébastien Lengagne
• Sylvain Miossec
• Antonio Paolillo
• Vincent Samy
• Joris Vaillant
• Eiichi Yoshida
• …

[Skolkovo Robotics V] Applying Anthropomorphic Robots Technology

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[Skolkovo Robotics V] Applying Anthropomorphic Robots Technology