DESIGN GUIDELINES FOR DEVELOPMENT OF HUMANOID ROBOT DESIGN

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1 DESIGN GUIDELINES FOR DEVELOPMENT OF HUMANOID ROBOT DESIGN Hyun-Jeong Kim, So-N Kwk, Mi-Sun Hwng, Myoung-Hee Woo, Hee-Seon So, Kwng-Myung Oh nd Myung-Suk Kim Deprtment of Industril Design Kore Advnced Institute of Science nd Technology Guseong-dong, Yuseong-gu, Dejeon , Kore ABSTRACT The mount of root is incresing nd getting more nd more mient in our dily environments. Root hs expnded its role nd service nd dpted to humn eings through the development of integrtion nd convergence of technology. Intelligent service roots, especilly humnoid roots re supposed to e intelligent, dptive, interctive nd intimte in use, ecuse they will e pplied to humn lives. In design, concerns on the development of roots hve een growing, ecuse the role of design is mking things such s roots esy nd comfortle. In this pper, we introduce design guidelines out the fetures of ctegoriztion of root design nd present frmework of humnoid root design tht uilds the design methods nd process. Keywords : Humnoid Root, Appernce design, Chrcter design, Interction design, Humnoid root design frmework, design process 1. INTRODUCTION A humnoid root is mde for humn eings. Its role, compred with other roots, is humne y performing things such s n ssistnt s tsk or showing friendship. In the context tht Design optimizes things for humn, the role of design hs een recognized in the development of humnoid root. Moreover humnoid roots hve the fetures of eing n integrtion of high technologies, interfce or interction, nd understnding humn s preferences. Therefore reserchers hve found the possiility of design field nd design pproch, which is imed to study the methods to perform the roles effectively in root design. Designers should do humnroot interction design considering the opertion nd structure of root ehvior s well s ppernce design. Prticulrly, it is more importnt to communicte with humns emotionlly. To do this, the definition of root s chrcteristic is needed in the design process. In this pper, we proposed guidelines in two wys to design humnoid Roots. First, considertion of the scle nd importnce of roots is needed for the clssifiction of root design to uild up professionl skill nd frmeworks tht show methods nd process t ech level. Appernce design, chrcter design nd interction design developed in to prcticl process through interdisciplinry pproch. Second is the root design out-put visuliztion. In the results of ppernce design s the first step of design, we would like to evlute complement of ppernce design through the engineering specifiction. Questionnires out the structure nd proposition of root s components, imge mpping nd strction of djective words were used to define the design concepts nd directions. We represented ide sketches, 3D rendering of two types y the design guidelines. 2. ROBOT DESGIN Root design elongs to industril design, however it is distinguished from consumer product design y the integrtion of high technology nd the scle nd degree of humn interction. Therefore root design cn e clssified into three groups nd three pproches: ppernce design, chrcter design nd interction design. Tle [1] Clssifiction of Root design Root Design Appernce Design Chrcter Design Interction Design Structure & Mechnism Shpe Mteril nd Color Role & Chrcteristic Design Scenrio Behvior Model Visul Interction Auditory Interction Hptic Interction

2 These groups re correltive nd hve effect on ech other. Humnoid root design cn not e ccomplished without ny one of these. First, we strted from ppernce design in this project, nd s result of this step, proposed version 1 design. Humn Entertinment Asimo, P3, Aio, Ppero Design Direction Home Work Pulic MIT root Asimo 2.1. Appernce Design Informtion Cooking Root, R100 Mimizku, S-doll Exhiition guide Appernce design mens the style of the exterior view such s Asimo, Qurio nd Pino. In this field, the designer should consider engineering specifiction for prcticl performnce nd the design out-put is defined y role nd chrcter. This design level includes structure nd mechnism, shpe, mteril nd color. We defined these fctors s the following in tle[2] y referring to engineering prt. Tle [2] Appernce Fctors of Humnoid Root Appernce Fctor Structure mechnism Shpe cosmetic Reserch prt engineering Engineering & Design Design clss Body proportion Bttery position Joint structure Joint type Fce Imge 2.2. Chrcter Design component Component rtio Bust Vs. leg Leg Vs. rm Leg rtio Bttery position Presence(hip) Shoulder Neck, knee, elow Hnd, foot Fce shpe Presence (eye, er, nose, mouth) Color, mteril Chrcter design is the type of feture such s Pino which ws motivted y Pinocchio. In this design level, the designer defines the role nd chrcteristic of the root nd then uilds design scenrio to represent detiled personlity. We seperted roots y the type of execution spce nd role. Spce ws divided into: home, work nd pulic spce; nd role ws divided into: entertinment, informtion, help, security nd chores. As root technology develops with incresing ppliction, roots will move from pulic, sfety nd chore to home, entertinment nd informtion. Thus, We focuced on chrcteristc of Infotinment (informtion + entertinment) root for pulic use s the first step. Mchine Fig.1 Clssifiction of Root s role nd chrcter 2.3. Interction Design Interction design finds the root s pproprite ehvior model nd method in visul, uditory nd hptic interction. To relize esy, speedy nd nturl interction, we will need simultion skill. 3. ROBOT DESIGN PROCESS AND METHODS Reserch of intelligent service root is, nd will e interdisciplinry for long time. This project, differing from the existing process (first engineering, lst designing), hs developed concurrent engineering design process, tht is, the design prt proposed imge concepts nd design specifictions nd ws le to communicte with the engineering prt. Fig.2 shows the process nd methods of ppernce design level in frmework of humnoid root design. In tle[2] we cn see the concurrent pproch. Humnoid Root Design Frmework Design Bsic chrcter Appernce Design fctors Method Result Help Security Chores Design of structure & frme Benchmrking Anlysis of root structure TMSUK4,Dm,H AL9000, GurdRoo, Monitoring Root Food hnding Root, Root Clener Astrction of structure & function y reserch prt Building shpe of surfce Construction Root, Posy GurdRoo, Fire serch Engineering scenrio Questionnire Unimte,Mym Interction design Defining of design Imge Concept TMSUK4, Roodoc, Roocue, Fire- Fighting Root Wll-pinting Root, Trsh- Clener Mteril & Color Imge mpping Astrction of djective words Out-put Ide sketch Modeling Simultion Root Design Fig.2 Humnoid Root Design Frmework

3 1) 2) 3) 4) 5) 6) 7) 8) 9) The process nd methods re s follows: Definition of the sic chrcter of the root Benchmrking: Qrio, Asimo, Pino Anlysis of the sic root structure Definition of the sic structure nd frme for design Astrction ttriutes on sic structure nd frme Questionnire to the engineering prt: size, sex, ge, humn or mchine type nd so on Request of engineering scenrio to the engineering prt Vrition of sic ody proposition nd comintion Questionnire to the engineering prt: tle[3] Appliction results on design direction Building shpe of surfce Imge mpping Definition of the design imge concept Astrction of djective words Idetion nd visuliztion of imges Clustering nd mking detil 3D Modeling Simultion nd evlution for prcticl performnce Rendering Tle[3] Questionnire : lists nd results Question Result nd direction Proposition Hed : ody Bust : leg Upper leg : lower leg Hed : ody = 1 : 6 Bust : leg = 2: 3 Upper leg : lower leg Shoulder ~rm = 19cm Arm~ wrist = 20cm 키 = 120 ~150 cm 어깨 ~ 팔꿈치 (18cm), 팔꿈치 ~ 손목 (20cm) 허벅지 : 장단지어깨 ~ 팔꿈치 1 :1 18 CM 상반신 : 하반신 2 : 3 Surfce Smooth, rounded Stright, solid Smooth, rounded Modified round considering inner spec Joint type Visulized Hidden Hidden joint Soft elements Solving shpe to working in design developing Hnd Foot Finger joint Simplifiction level Foot joint Finger joint Simplifiction level Foot joint Foot : top A + ottom B =>Esy to wlk Hip Closed to ust (Hip joint) Closed to leg (Not hip) Hip joint Ale to rotte for flexiility Bttery Bck Chest Other Minly focus on ck Other (Hop, leg, - considering the center of grvity) Necessry points y technology constrins Arm joint(6 degree of freedom Enough spce in ust 2관절회전 1관절 1 관절 Other suggestion 회전 1관절 1관절

4 4. VISUALIZATION OF HUMANOID ROBOT DESIGN 4.1. Design Concept Imge Mpping Bsed on reserch, Root imge is divided into joint, color, whole imge, nd fce. In detil, joint nd color is divided into mchine nd toy style, while the whole imge nd fce is divided into niml nd humn type. Existing roots re grouped into four regions y the ove fctors (Fig. 3). Fig.5 Adjectives of Concept 2 Fig.6 Adjectives of Concept 3 Fig.3 Imge Mpping of Root nd Direction of Concept Concept mking We defined humnoid root design concepts into three types: concept 1 pursues imge tht is mechnic in joint nd color, nd humn in the whole imge nd fce look, concept 2 hs toy imge in the joint, color, whole imge nd fce, nd concept 3 hs n niml nd toy shpe Astrction of djective words One of the most importnt design points is exposing joints on the grounds of questionnire nd conclusion. Consequently we focused on expressing of ech joints, especilly t the shoulder nd knee prt. The fce imge is mjor fctor ecuse it decides whether people feel fmilir with the root or not. Concept 1 is mle, strong, nd simple mood, concept 2 is round, cute nd young mood nd concept 3 is humnoid, ut hs chrcteristics of n niml such s ct or dog. Silver nd white Colors which re populr nd cceptle in roots nd pplinces were pplied on ll concepts. However pstel tone or vivid colors were used in concept 2 nd 3 s ccent points Ide sketch Idetion nd sketching ws performed on ech concept fter defining the concepts nd directions in detil. Astrcting of djective words, which is usul method in design works, is to help the designer idete nd visulize in the ide sketching process. This step hs dvntges to understnding, expnding concept nd communicting with other fields. Fig.4 Adjectives of Concept 1 Fig.7 Ide sketch

5 4.3. Rendering The next process is drwing y dimension. In our project, we developed concept 1 s type A nd concept 2 s type B, which is merged with the chrcteristics of concept Drwing The height nd width is oth 1400cm nd 550cm respectively. See the Fig. 8, 9 shown elow. We did not pply engineering specifiction directly on to the design. We proposed new size to chieve the most hrmonious ppernce, though we demnded them from the engineering prt in the first step. But the new size is minly modified to relize prctice y technology on its sis. There hve een mny cses up to now where prt of the root, such s hed, ust, or rm nd leg re unlnced. This is the reson why they developed engineering spec. oriented root housings. Engineers connected with our project will consider the size of the design prts t the next step. These process hve vlue of interdisciplinry reserch to find out the most idelistic imge of humnoid root Rendering Alis ws used for modeling works. The fetures of type A Body shpe : squre, flt, nd strong solid Fce : swing goggle (open, closed y hinge) Color nd mteril: silver nd drk gry Unique point : sturdy from cornered surfce Fig.10 Rendering of type A Fig.8 Drwing of type A The fetures of type B Body shpe : round nd sleek volume Fce : ig eyes nd emodied ers such s monkey toy Color nd mteril: white nd lue s ccent Unique point : dynmic form joint of round units Fig.9 Drwing of type B Fig.11 Rendering of type B

6 4. CONCLUSIONS As humnoid roots diffuse in to the world nd tke effect on humn life, interests nd efforts will e concentrted nd incresed constntly. Thus, the mount of reserch group ssocited to this field will try to propose nd cquire the stndrd technology of roots through vrious pproches nd methodologies. Overll, the most importnt spect is tht humn eings experience fmilirity from the figurtion of the root nd on whether it cn serve menity nd convenience to humn. This project, imed to relize n intimte nd comfort root, ws emphsized on design with focus on ppernce design nd study on the guidelines s the first level. A further direction of this project will e to reserch the role, chrcter, nd interction design through the ehvior model of humnoid root. [7] Hyun J. Kim., et l., A Study on the Socil Needs of Customer For Root Design, The Journl of Koren Society of Design Science 16(3), pp , [8] Rodney Brooks, Humnoid Roots, Communiction of The ACM 45(3), pp , 2002 [9] Crl F. Dislvo., et l., All Roots Are Not Equl: The Design nd Perception of Humnoid Root Heds, In Proceedings of the conference on Designing interctive systems, pp , ACKNOWLEDGMENTS This work ws supported (in prt) y the Ministry of informtion & Communictions, Kore, under the Informtion Technology Reserch Center (ITRC) Support Progrm. 6. REFERENCES [1] Bernd Löech, Industril Design, Trns. B. J. Lee, Cho hyunjg Kyoyook, pp , [2] Vivien Wish., et l., Winning y Design: Technology, Product Design nd Interntionl Competitiveness, Oxpord : Blckwell Pulishers, pp , [3] S. Pugh, Totl Design: Integrted Methods for successful Product Engineering, Addison-Wesley Pulishers Compny, pp. 5-11, [4] Togim Wco, The ge of Roots, Trns. S Cho, Science Books, pp , [5] Son Kwk nd MyungSuk Kim, Emotionl Root Design y Astrcting Emotionl Imge from Koren Folk Pinting of Tiger, In proceeding of the 1 st Bi-nnul Design Conference of KSDS, pp , [6] SeongWoo Shin nd SngWook You, A Study on The Design nd Its Orienttion in The Root Age, In proceeding of the 1 st Bi-nnul Design Conference of KSDS, pp , 2003