Humanoid robotics

K.Ramkumar, k.lakshmana rao III B.tech, Mechanical Dept. Atmakur Engineering College, Nellorepallem, Atmakur, S.P.S.R. Nellore (Dt). Affiliated by AICTE I JNTU Ananthapuram. Email:ramkrumarkaryampudi@gmail.com Lakshmank49@gmail.com

Abstract: A humanoid robot or an anthropomorphic robot is a robot with its body shape built to resemble that of the human body. A humanoid design might be for functional purposes, such as interacting with human tools and environments, for experimental purposes, such as the study of bipedal locomotion, or for other purposes. In general, humanoid robots have a torso, a head, two arms, and two legs, though some forms of humanoid robots may model only part of the body, for example, from the waist up. Some humanoid robots may also have heads designed to replicate human facial features such as eyes and mouths. Androids are humanoid robots built to aesthetically resemble humans. Definition: "A humanoid robot is a robot with an overall appearance based on that of the human body" History: A type of human robot, a Humanoid is expected, to work together with human partners in our living environment, and it will share the same working space and will experience the same thinking and behavior patterns as a human being. The robot will integrate information from sensors and show coordinated actions which realize a high level of communication with a human without any special training using multimedia such as speech, facial expression and body movement. Although Robotics is essentially an interdisciplinary engineering, it is vital that humanoid research be done in cooperation with biology, psychology, sociology and medicine. The Humanoid Robotics Institute will open the door for researchers from both inside and outside of the university to serve not only the academic and industry worlds but also society as a whole.The czech writer Karel-Capek formed the term robot in his 1921 published novel R.U.R. (Rossum's Universal Robots). Timeline and Development:

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c. 250 BC

The Lie Zi described an automaton

c. 50 AD

Greek mathematician Hero of Alexandria described a machine to automatically pour wine for party guests.

1206

Al-Jazari described a band made up of humanoid automata which, according to Charles B. Fowler, performed "more than fifty facial and body actions during each musical selection."] Al-Jazari also created hand washing automata with automatic humanoid servants and an elephant clock incorporating an automatic humanoid mahout striking a cymbal on the half-hour. His programmable "castle clock" also featured five musician automata which automatically played music when moved

by levers operated by hidden camshaft attached to a water

1495

Leonardo da Vinci designs a humanoid automaton that looks like an armored knight, known as Leonardo's robot

1969

1970 1738 Jacques de Vaucanson builds The Flute Player, a life-size figure of a shepherd that could play twelve songs on the flute and The Tambourine Player that played a flute and a drum or tambourine

1972

1973 1774 Pierre Jacquet-Droz and his son HenriLouis created the Draughtsman, the Musicienne and the Writer, a figure of a boy that could write messages up to 40 characters long 1980 1898 Nikola Tesla publically demonstrates his "automaton" technology by wirelessly controlling a model boat at the Electrical Exposition held at Madison Square Garden in New York City during the height of the Spanish-American War. 1921 Czech writer Karel apek introduced the word "robot" in his play R.U.R. (Rossum's Universal Robots). The word "robot" comes from the word "robota", meaning, in Czech and Polish, "forced labour, drudgery" The Maschinenmensch (machinehuman), a gynoid humanoid robot, also called "Parody", "Futura", "Robotrix", or the "Maria impersonator" (played by German actress Brigitte Helm), perhaps the most memorable humanoid robot ever to appear on film, is depicted in Fritz Lang's film Metropolis. Isaac Asimov formulates the Three Laws of Robotics, and in the process of doing so, coins the word "robotics". Norbert Wiener formulates the principles of cybernetics, the basis of practical robotics. The first digitally operated and programmable non-humanoid robot, 1983

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the Unimate, is installed on a General Motors assembly lineto lift hot pieces of metal from a die casting machine and stack them. It was created by George Devol and constructed byUnimation, the first robot manufacturing company. D.E. Whitney publishes his article "Resolved motion rate control of manipulators and human prosthesis". Miomir Vukobratovi has proposed Zero Moment Point, a theoretical model to explain biped locomotion Miomir Vukobratovi and his associates at Mihajlo Pupin Institute build the first active anthropomorphic exoskeleton. In Waseda University, in Tokyo, Wabot1 is built. It was able to walk, to communicate with a person in Japanese and to measure distances and directions to the objects using external receptors, artificial ears and eyes, and an artificial mouth. Marc Raibert established the MIT Leg Lab, which is dedicated to studying legged locomotion and building dynamic legged robots Using MB Associates arms, "Greenman" was developed by Space and Naval Warfare Systems Center, San Diego. It had an exoskeletal master controller with kinematic equivalency and spatial correspondence of the torso, arms, and head. Its vision system consisted of two 525-line video cameras each having a 35-degree field of view and video camera eyepiece monitors mounted in an aviator's helmet At Waseda University, the Wabot-2 is created, a musician humanoid robot able to communicate with a person, read a normal musical score with his eyes and play tunes of average difficulty on an electronic organ Developed by Hitachi Ltd, WHL-11 is a biped robot capable of static walking on a flat surface at 13 seconds per step and it can also turn WASUBOT is another musician robot from Waseda University. It performed a concerto with the NHK Symphony Orchestra at the opening ceremony of the International Science and Technology Exposition. Honda developed seven biped robots which were

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designated E0 (Experimental Model 0) through E6. E0 was in 1986, E1 E3 were done between 1987 and 1991, and E4 - E6 were done between 1991 and 1993 Manny was a full-scale anthropomorphic robot with 42 degrees of freedom developed at Battelle's Pacific Northwest Laboratories in Richland, Washington, for the US Army's Dugway Proving Ground in Utah. It could not walk on its own but it could crawl, and had an artificial respiratory system to simulate breathing and sweating Tad McGeer showed that a biped mechanical structure with knees could walk passively down a sloping surface Honda developed P1 (Prototype Model 1) through P3, an evolution from E series, with upper limbs. Developed until 1997. Hadaly was developed in Waseda University to study human-robot communication and has three subsystems: a head-eye subsystem, a voice control system for listening and speaking in Japanese, and a motioncontrol subsystem to use the arms to point toward campus destinations. Wabian is a human-size biped walking robot from Waseda University. Saika, a light-weight, human-size and low-cost humanoid robot, was developed at Tokyo University. Saika has a twoDOF neck, dual five-DOF upper arms, a torso and a head. Several types of hands and forearms are under development also. Developed until 1998. Hadaly-2, developed at Waseda University, is a humanoid robot which realizes interactive communication with humans. It communicates not only informationally, but also physically. Honda creates its 11th bipedal humanoid robot, able to run, ASIMO. Sony unveils small humanoid entertainment robots, dubbed Sony Dream Robot (SDR). Renamed Qrio in 2003. Fujitsu realized its first commercial humanoid robot named HOAP-1. Its successors HOAP-2 and HOAP-3 were announced in 2003 and 2005, respectively. HOAP is designed for a broad range of applications for R&D of

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robot technologies. HRP-2, biped walking robot built by the Manufacturing Science and Technology Center (MSTC) in Tokyo. JOHNNIE, an autonomous biped walking robot built at the Technical University of Munich. The main objective was to realize an anthropomorphic walking machine with a human-like, dynamically stable gait Actroid, a robot with realistic silicone "skin" developed by Osaka University in conjunction with Kokoro Company Ltd. Persia, Iran's first humanoid robot, was developed using realistic simulation by researchers of Isfahan University of Technologyin conjunction with ISTT. KHR-1, a programmable bipedal humanoid robot introduced in June 2004 by a Japanese company Kondo Kagaku. The PKD Android, a conversational humanoid robot made in the likeness of science fiction novelist Philip K Dick, was developed as a collaboration between Hanson Robotics, the FedEx Institute of Technology, and the University of Memphis. Wakamaru, a Japanese domestic robot made by Mitsubishi Heavy Industries, primarily intended to provide companionship to elderly and disabled people. Nao is a small open source programmable humanoid robot developped by Aldebaran Robotics, in France. Widely used by world wide universities as a research plateform and educational tool. The Geminoid series is a series of ultrarealistic humanoid robots or Actroid developped by Hiroshi Ishiguro of ATR and Kokoro in Tokyo. The original one, Geminoid HI-1 was made at its image. Followed Geminoid-F in 2010 and Geminoid-DK in 2011. REEM-A, a biped humanoid robot designed to play chess with the Hydra Chess engine. The first robot developed by PAL Robotics, it was also used as a walking, manipulation speech and vision development platform. iCub, a biped humanoid open source robot for cognition research. Mahru, a network-based biped humanoid robot developped in South Korea.

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TOPIO, a ping pong playing robot developed by TOSY Robotics JSC. Twendy-One, a robot developed by the WASEDA University Sugano Laboratory for home assistance services. It is not biped, as it uses an omnidirectional mobile mechanism. Justin, a humanoid robot developed by the German Aerospace Center (DLR). KT-X, the first international humanoid robot developed as a collaboration between the five-time consecutive RoboCup champions, Team Osaka, and KumoTek Robotics. Nexi, the first mobile, dexterous and social robot, makes its public debut as one of TIME magazine's top inventions of the year. The robot was built through a collaboration between the MIT Media Lab Personal Robots Group, Xitome DesignUMass Amherst and Meka robotics. Salvius (robot), The first open source humanoid robot built in the United States is created. REEM-B, the second biped humanoid robot developed by PAL Robotics. It has the ability to autonomously learn its environment using various sensors and carry 20% of its own weight. HRP-4C, a Japanese domestic robot made by National Institute of Advanced Industrial Science and Technology, shows human characteristics in addition to bipedal walking. Turkey's first dynamically walking humanoid robot, SURALP, is developed by Sabanci University in conjunction with Tubitak. Kobian, an robot developed by WASEDA University can walk, talk and

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mimic emotions. NASA and General Motors revealed Robonaut 2, a very advanced humanoid robot. It was part of the payload of Shuttle Discovery on the successful launch February 24, 2011. It is intended to do spacewalks for NASA. Students at the University of Tehran, Iran unveil the Surena II. It was unveiled by President Mahmoud Ahmadinejad. Researchers at Japan's National Institute of Advanced Industrial Science and Technology demonstrate their humanoid robotHRP-4C singing and dancing along with human dancers. In September the National Institute of Advanced Industrial Science and Technology also demonstrates the humanoid robot HRP-4. The HRP-4 resembles the HRP-4C in some regards but is called "athletic" and is not a gynoid. REEM, a humanoid service robot with a wheeled mobile base. Developed by PAL Robotics, it can perform autonomous navigation in various surroundings and has voice and face recognition capabilities. In November Honda unveiled its second generation Honda Asimo Robot. The all new Asimo is the first version of the robot with semi-autonomous capabilities. In April, the Advanced Robotics Department in Italian Institute of Technology released its first version of the Compliant huManoid robot CoMan which is designed for robust dynamic walking and balancing in rough terrain.

Current uses of Humanoid Robots: Currently humanoid robots are being implemented in a wide range of industries. The most common place to find humanoid robots is in the entertainment industry. One of the popular attractions that use these robots is in the hall President at the Walt Disney World theme park Florida, America. This hall contains robots that created to imitate past and current presidents. Their life-like mannerism and appearance adds an element of humanity to attraction, while still being fascinating technologically. In terms of developed a robot named

Frio which runs, dances product that is available to customers, Sony, recognize faces, maintain its balance, and can get up if knocked over. Currently humanoid robots are a couple popular uses that will eventually be expanded upon in the work force. These robots are being used as receptionist in large company as well as some universitys technology. Some of the capabilities of these robots are including greeting people when they enter, giving directions and transferring phone call. Security is also a popular means by humanoid robots are being introduced in the work force. Task, a Japanese

company created a robot named Robo-Guard. Its capabilities are including patrolling round the clock, using an elevator, replacing its own battery and wielding a fire extinguisher. The robot that designed by the Huazhong University of Science & Technologys (HUST) Robot Club had several limitations, they are stood out were the lack of a torso, arms and head. Lacking these features did not allow the robot to fit the definition of a humanoid robot. Another problematic feature was the unusual design of its feet. They were unnecessarily conflicted and large with one another while in motion. Future of Humanoid Robots: Talking of robots there is always a new improvements and also new technology that are will be a great advantage to human life. Robots have wide usage in our life. In medication technology for examples, doctors are using robotic arm to help them during a delicate surgery that will need a precise movement and does not tolerate any minor mistakes. Police officers are also using robot technology to help them while conducting life risk job, defusing a bomb, for example: There are many types of robots that are used in our life, but the humanoid form is the one that people are usually talked about. A robot with a human form or we call it humanoid robots probably will become our best friend in the future. Nowadays humanoid robots are able to help people in doing their job. For example there is a robot that is placed inside a museum to guide the visitor around the museum, though the robot are not very much like a human, but it is quite helpful. Hopefully in the future there are many humanoid robots that are able to make us easier in living our life. It is not impossible that someday in the amusement park there are many robots that are able to help us in maximizing our time in enjoying the fun, or even there will be a police robot that will help a kid who is lost. I prefer to think the best part of a robot can brings us rather than a robot that used as a war machines, though that is probably already become the military plans. Development in the next few years:

Human Locomotion Human Cognition Artificial Intelligence

How to develop a humanoid robots: Humanoid robots are used as a research tool in several scientific areas. Researchers need to Human cognition is a field of study which is focused on how humans learn from sensory information in order to acquire perceptual and motor skills. This knowledge is used to develop computational models of human behavior and it has been improving over time. understand the human body structure and behavior (biomechanics) to build and study humanoid robots. On the other side, the attempt to simulate the human body leads to a better understanding of it.It has been suggested that very advanced robotics will facilitate the enhancement of ordinary humans. See transhumanism .Although the initial aim of humanoid research was to build better orthosis and prosthesis for human beings, knowledge has been transferred between both disciplines. A few examples are: powered leg prosthesis for neuromuscularly impaired, ankle-foot orthosis, biological realistic leg prosthesis and forearm prosthesis. Laws of Robotics: The Three Laws of Robotics (often shortened to The Three Laws or Three Laws) are a set of rules devised by the science fiction author Isaac Asimov. The rules were introduced in his 1942 short story "Runaround", although they had been foreshadowed in a few earlier stories. The Three Laws are: 1. A robot may not injure a human being or, through inaction, allow a human being to come to harm. 2. A robot must obey the orders given to it by human beings, except where such orders would conflict with the First Law. 3. A robot must protect its own existence as long as such protection does not conflict with the First or Second Laws.

These form an organizing principle and unifying theme for Asimov's robotic-based fiction, appearing in his Robot series, the stories linked to it, and his Lucky Starr series of young-adult fiction. The Laws are incorporated into almost all of the positronic robots appearing in his fiction, and cannot be bypassed, being intended as a safety feature. Many of Asimov's robot-focused stories involve robots Applications: Android humanoids are and can be used in various real-world applications Everything a human can do Dangerous/Dirty tasks Space exploration Entertainment/Education

behaving in unusual and counter-intuitive ways as an unintended consequence of how the robot applies the Three Laws to the situation in which it finds itself. Other authors working in Asimov's fictional universe have adopted them and references, often parodic, appear throughout science fiction as well as in other genres.

Hazardous Jobs:

General purpose: Humanoid robots can perform a Prosthesis/Orthosisvariety of tasks autonomously. They are useful because they typically can navigate independently in known spaces, handle their own recharging needs, and interface with electronics, networks, software and accessories. They may recognize people or objects, talk, translate, provide companionship, monitor environmental quality, respond to alarms, pick up supplies and perform other useful tasks. Because these robots mimic human beings and even resemble people in appearance, humanoid robots and androids are able to interact socially, intellectually and emotional with people. This can be useful to the young and old alike, in such roles as elderly care, babysitters, tutors, entertainers and companions. And for the disabled and blind, an intelligent robot companion will be indispensable. Domestic androids are perhaps also not too far in the future soon youll be able to get your own humanoid butler/nanny/maid to perform those mundane household chores for you! Even walk the dog and pick up behind it. NASA's Robonaut 2 Humanoid robots will perform tasks where no human can safely go, such as dangerous explorations, both here on earth and in space. NASA has already sent the first humanoid robot into space. Its a 330-pound humanoid robot called Robonaut 2 (R2) that may eventually go to the moon. R2 is designed to help astronauts perform tedious and dangerous missions, including vacuum outside air filters, do space walks, flip switches, and go into dangerous toxic environments. The day may perhaps also come where they will take over hazardous jobs such as in nuclear power plants. Military and Law Enforcement: Military, security and law enforcement applications for robots that look and act like humans are plentiful and research and development in this are continues.If we can remove human soldiers, fireman and police officers (almost) completely from harms way it would be a great achievement.

Agriculture Imagine old McDonald replacing his hired help and many of his equipment with a humanoid robot that will work tirelessly 365 days a year! Production will increase dramatically. Construction and Manufacture Humanoid robots will take over many of the most hazardous and mundane jobs in manufacturing and construction.Anthropomorphic robots with hands like humans will be used for factory jobs. Education Ever get that feeling your kids arent paying attention to what youre trying to teach them? Well, maybe theyll listen better to their robot teacher! And instead of having several different human teachers for different subjects, one humanoid robot (that never gets tired or asks for a pay rise) could master and teach all those disciplines, and more Sports RoboGames is the worlds largest open robot competition, in which competitors from all over the world compete in over fifty different events, including combat robots, walking humanoids, soccer bots, sumo bots, and more. And RoboCup is an international robotics competition that aims to develop autonomous soccer robots with the intention of promoting research and education in the field of artificial intelligence, but also with this in mind: So, humanoid robots are already competing in sports against each other, but there will be a time soon, when they will play and compete against human competitors. Medical Humanoid robots can be used for medical research and training. Better to practice your surgery skills on a human-like machine, than make a deadly or costly slip up with a real patient.

Androids that mimic the human body are also ideal in medical education. Humanoid nurses will take care of patients and routine tasks. And since robots can perform more accurate and precise actions, they will also be ideal to perform very delicate surgery. Research

We can use humanoid robots for two research purposes: 1. By studying them, their movements, functions, reactions, etc. for the benefit of human science; By utilizing them as research subject in the place of, or in conjunction with, research on humans.

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2. The sale and development of these Humanoid Robots will also help increase the economy. 3. These robots can make companies more efficient in their work and also spur the economy with their revenue growth 4. DARPA has created a robot challenge where many different groups and organizations are coming together to build the best humanoid robot possible to help the military. 5. But humanoid robots can be useful in many scenarios, everything from helping elderly people live in their own homes to responding to disasters, so it is exciting to see DER 01, a Japanese actroid Entertainment Robots that act and perform like humans are already a reality. Humanoid robots can and will be used in the place of human actors and entertainers. They will never be late or sick, or make excessive demands on the director (did someone say, goodbye diva!) and theyll be cheaper. These robotic actors and stage performers will also give consistently good performances, day after day. Pleasure Humanoid robots are perfect for toys, both for children and grownups, alike. Can you imagine, as a kid, having your own android to play with? A permanent play-friend that never gets tired of you, never fights or argues with you, and one that knows and can do a ton of cool stuff. On the other hand, the porn and sex industries are already eying and planning for humanoid robots. These will perhaps be the perfect sex objects that man has always longed for! Advantages : 1.they can do things that people can do and even things that people are unable to do 4. 2. Disadvantages: 1. One main disadvantage that results from Humanoid Robots will be that many people are going to lose their jobs. Another disadvantage would be that this implementation of robots into peoples lives will cause a shift in their social ability and willingness, in other words, people are going to become more introverted. As there is always a disadvantage to an advantage there are a few that result from having Humanoid Robots interact with autistic children. Humanoid Robots are not yet perfected and cannot react in the same way humans do. The main losers however will be the people who lose their jobs; this is something that will greatly impact many people and the economy as well.

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Conclusion: Today we find most robots working for people in industries, factories, warehouses, and laboratories. Robots are useful in many ways. For instance, it boosts economy because businesses need to be efficient to keep up with the industry competition. Therefore, having robots helps business owners to be competitive, because robots can do jobs better and faster than humans can, e.g. robot can built, assemble a car. Yet robots cannot perform every job; today robots roles include assisting research and industry. Finally, as the technology improves, there will be

new ways to use robots which will bring new hopes and new potentials. References: http://en.wikipedia.org/wiki/Humanoid_robot www.inel.gov/adaptiverobotics/humanoidrobotics www.worldscientific.com/ijhr/ www.sciencedaily.com/articles/h/humanoid_robot.ht m web6.cs.columbia.edu/~allen/F12/huboI_design www.inel.gov/adaptiverobotics/humanoidrobotics