The State of the Art in Robotics: RoboCup, Rescue, Entertainment, and More

Transcription

1 22 nd World Gas Conference Tokyo 2003 SPECIAL ADDRESS (SA-3) The State of the Art in Robotics: RoboCup, Rescue, Entertainment, and More Dr. Hiroaki Kitano Project Director, ERATO Kitano Symbiotic Systems Project, Japan Science and Technology Corporation, Director, Sony Computer Science Laboratories Japan June 4, 2003

2 The State of the Art in Robotics: RoboCup, Rescue, Entertainment and more Hiroaki Kitano ERATO Kitano Symbiotic Systems Project, JST Sony Computer Science Laboratories, Inc.

3 Landmark Project Apollo Project Goal: Send men to the moon and safely return them to the earth. (J.F.K.) Technologies: systems science, electronics, aviation, project management, etc. Effects: Major impacts to U.S. industries.

4 Landmark Project Computer Chess Goal: to develop a computer that can beat human chess champion. Technologies: Search algorithms, parallel computing, parallel machine architectures, etc. Effects: Basic computer algorithms, parallel programming, etc.

5 Criteria For Successful Landmark Projects The goal shall be wildly exciting to both researchers and general public. The goal shall be difficult enough so that the next generation technologies need to be developed to accomplish it. But the first step can be made now

6 Landmark Project For Robotics Goal: By 2050, RoboCup build a team of fully autonomous humanoid which win against human world champion under the official regulation of FIFA. a human and robot combined team to be a world champion and one of the robot players to receive MVP

7 Can we accomplish the goal? Wright brothers 1 st flight Apollo to the moon 1 st computer invented Computer win against the human chess champion DNA double helix Human Genome Project

8 RoboCup : Activities RoboCupSoccer Research project using soccer RoboCupJunior International education project using robots RoboCupRescue Disaster rescue system research

9 RoboCupSoccer Small-sized League Middle-sized League Legged Robot League Humanoid League

10 Humanoid League

11 RoboCupRescue Goal: Development of deployable disaster rescue systems (robots, IT, and other technology solutions) Evaluation: Annual Competition & conferences Joint Research: International Rescue System Institute, (Japan) CRASAR?

12 Rescue System Simulation & Decision Support Command, Control, & Communication Data Collection Systems Search & Rescue Robots

13 Rescue WTC

14 RoboCup-2003 July in Padua, Italy RoboCup ,000 ticket sales for for 3 days

15 Design Spectrum of Robot Applications Art Fashion Entertainment Home Office/Industry Humanitarian/ Medical Functions

16 Spectrum of Robot Applications: Art La Biennale di Venezia 2000 PINO

17 MoMA 2001 Museum of Modern Art, New York

18 Spectrum of Robot Applications: Fashion Posy (Flower Robotics Inc.) Ars Electronica 2001 (Linz) Opening Silicon Graphics Reception Fashion Show

19 Spectrum of Robot Applications: Entertainment AIBO

20 Spectrum of Robot Applications: Home

21 Home Cleaning Robots

22 Spectrum of Robot Applications: Office/Industry Security

23 Spectrum of Robot Applications: Humanitarian/Medical Rescue De-mining Medical

24 Humanitarian use of robotics and IT RoboCupRescue RoboCupDemining (demo for 2003) Center for Robot-Assisted Search and Rescue (CRASAR) International Rescue System Institute (IRS)

25 Kitano Project Activities

26 Kitano Project Activities Scientific & Technological Research SIG PINO morph Commercial Development ZMP

27 SIG

28 PINO

29 PINO Project goals Poor man s humanoid Cheap and affordable solution Off-the-shelf components Low precision and simple structure Control method for low precision, low torque devices Robot Design What is acceptable form of design? Cultural Icon PINO signifies incompleteness, Fragileness, Weakness

30 PINO Walking Control Method GA-based trajectory generation Simulation Real PINO Kitano Symbiotic Systems Project, ERATO, JST Fuminori Yamasaki,

31 OpenPINO Platform Toward Open Platform for Humanoid research Disclose all technical information under GNU General Public License and GNU Free Document License Software Mechanical Design Electronics

32 morph Project goal High end small-size humanoid robot Full body movement beyond walking Commercialization

33 morph Sept

34 morph2 Full Body Movement Range of Joint Movement Front S4(+) S4(-) Back S1(+) S1(-) Joint # Range[deg.] S3(+) S3(-) S2(+) S S2 S3 S Assignment of d.o.f. of morph

35 morph Dec

36 morph Mar

37 morph Jun

38 morph Oct

39 Commercial Development of Kitano Project ZMP Inc. Spin-off Venture Company

40 ZMP Current Business Domains General Entertainment Sector Image licensing (Toshiba-EMI, UCC Coffee, etc) Demo (over 30 events, Malaysia, UK, etc) Toys (Tsukuda Original) exp. $30M Technology Sector PINO Research Platform (20 sold) Morph series Special Devices (CPU, Actuators, etc) High End Sector : The Premier Products High-end morph series, etc

41 ZMP business model Do not compete with Sony and Honda, which target general consumer market Target high-end and technology solution License high-end technology and design to consumer-oriented companies or products