robotics

ROBOTICS
ROBOTIC
TECHNOLOGY
ROBOT
ARCHITECTURES
HRP-4C
COMPARISON B/W
HRP-4C AND HRP-4
CONCLUSION

What is a Robot…?
A re-programmable, multifunctional,
automatic industrial machine designed to
replace human in hazardous work. It can
be used as :-
•An automatic machine sweeper
•An automatic car for a child to play with
•A machine removing mines in a war field
•In space
•In military , and many more..

Robotics is science of designing or building an application
of robots. Simply ,Robotics may be defines as “The Study
of Robots”. The aim of robotics is to design an efficient
robot.
Robotics is needed because:-
• Speed
• Can work in hazardous/dangerous temperature
• Can do repetitive tasks
• Can do work with accuracy

Power Supply
Actuators
Sensor
Manipulation
Locomotion
Basically followings are the components of robots:
Controllers

 At present; mostly (lead-acid) batteries are
used, but potential power sources could be:
 pneumatic (compressed gases)
 hydraulics (compressed liquids)
 flywheel energy storage
 organic garbage (through anaerobic
digestion)
 Faeces (human, animal); may be
interesting in a military context as feces of
small combat groups may be reused for the
energy requirements of the robot assistant
(see DEKA's project Slingshot sterling
engine on how the system would operate)

 A robot leg powered by Air Muscles
 Actuators are like the "muscles" of a
robot, the parts which convert stored
energy into movement.
 By far the most popular actuators are
electric motors that spin a wheel or
gear, and linear actuators that control
industrial robots in factors.
 But there are some recent advances in
alternative types of actuators, powered
by electricity, chemicals, or
compressed air

 The sensor array is constructed as a rigid core
surrounded by conductive fluid contained by an
elastomeric skin. Electrodes are mounted on the
surface of the rigid core and are connected to an
impedance-measuring device within the core.
 When the artificial skin touches an object the fluid
path around the electrodes is deformed,
producing impedance changes that map the
forces received from the object.
 The researchers expect that an important function
of such artificial fingertips will be adjusting robotic
grip on held objects.

 Mechanical Grippers: One of the most
common effectors is the gripper. In its simplest
manifestation it consists of just two fingers
which can open and close to pick up and let go
of a range of small objects. Fingers can for
example be made of a chain with a metal wire
run trough it. See Shadow Hand.
 Vacuum Grippers: Pick and place robots for
electronic components and for large objects
like car windscreens, will often use very simple
vacuum grippers. These are very simple
astrictive[33] devices, but can hold very large
loads provided the pretension surface is
smooth enough to ensure suction.

 General purpose effectors: Some advanced
robots are beginning to use fully humanoid
hands, like the Shadow Hand, MANUS and the
Schunk hand.. These highly dexterous
manipulators, with as many as 20 degrees of
freedom and hundreds of tactile sensors.

 For simplicity, most mobile robots have four
wheels. However, some researchers have
tried to create more complex wheeled robots,
with only one or two wheels. These can have
certain advantages such as greater efficiency,
reduced parts, and allow a robot to navigate
in tight places that a four wheeled robot would
not be able to.
Two-wheeled balancing: Balancing robots
generally use a Gyroscope to detect how
much a robot is falling and then drive the
wheels proportionally in the opposite
direction, to counter-balance the fall at
hundreds of times per second, based on the
dynamics of an inverted pendulum.

 The mechanical structure of a
robot must be controlled to
perform tasks. The control of a
robot involves three distinct
phases - perception, processing,
and action (robotic paradigms).
 Sensors give information about
the environment or the robot
itself (e.g. the position of its
joints or its end effector). This
information is then processed to
calculate the appropriate signals
to the actuators (motors) which
move the mechanical

 Followings are the types of software
architectures for robots.
• Simple embedded architectures without OS.
• Architecture based on real-time OS (RTOS).
• Architecture based on embedded OS.

Advantages:
• Low cost hardware is required
• Easy development
Disadvantages:
• There is no abstraction from hardware.
• It is impossible to create to create advanced
systems for performing difficult tasks.
• Problems with debugging and writing unit tests.
Applications:
• Toys, research projects.

Advantages:
• One processor for high level tasks and hardware
control.
• Abstraction from hardware level.
Disadvantages:
• Difficult tasks scheduling.
• Difficult logic (high and low tasks are mixed)
Applications:
• Service robots, military projects and research..

Advantages:
• Abstraction from hardware level.
• Strong decomposition of tasks on hardware level.
• No scheduling problems.
• Easy decomposition of tasks between software and hardware
developers.
Disadvantages:
• Higher cost.
Applications:
• Service robots, toys, military projects
and research.

The HRP-4C ,nicknamed Miim, is a
feminine looking humanoid robot created
by National Institute of Advanced
Industrial Science and Technology(AIST), a
Japanese research facility.

Miim measures 158 centimeters (5 feet, 2 inches)
tall and weighs 43 kilos (95 pounds) including a
battery pack.
She has a realistic head and face.
She has figure of an average young Japanese
female(based on the 1997-1998 Japanese body
dimension database).
 She can move like a human, utilizing 30 body
motors and another eight dedicated to facial
expressions.

Miim can also respond to speech using speech
recognition software.
The HRP-4C has an eye stereo camera and a
scanning range finder.
Miim can also sing, using the vocal
synthesizer Vocaloid.
Miim can also dance.

The software that operates the robot is
developed on the basis of Open Robotics
Platform (OpenRTP), including OpenRTM-
aist and OpenHRP3.

She is to be used :
 In Entertainment industry.
As a human stimulator for evaluation of
devices.
In mechanical products to assist human
movements by incorporating new functions
and features.

The disadvantage of HRP-4C
is walking on two feet may only
have a little commercial value,
the unit price is very high, and
if it falls, it may be seriously
damaged.

Height:
The height of Hrp-4c is 158 centimeters while the
height of Hrp-4 is 150 centimeters.
Weight:
The weight of Miim is 43 kg while the weight of HRP-
4 is 39 kg.
Degrees of Freedom:
Degree-of-freedom ( Degrees Of Freedom ) means a
variable that can be changed freely, in the case of the
robot is the number of directions that you can freely
exercise, that is, which means the number of joint axis

Degrees of freedom in HRP-4C are 42 while in HRP-
4 are 34.
Joints:
HRP-4C has 42 joints while HRP-4 has 34 joints.
Battery:
Both has NiMH battery ,NiMH stands for nickel–
metal hydride battery , is a type of
rechargeable battery.
Sensor:
HRP-4C has 1 Attitude sensor and 2 Force sensor
while the HRP-4 has 1 Attitude sensor and 1 Force
sensor.

HRP-4C is also
known as HRP-4‘s
older sibling.

Advantages:
 Going to far away planets.
 Going far down into the unknown waters and mines where humans would be
crushed .
 Most of them are automatic so they can go around by themselves without any
human interference.
 They can perform tasks faster than humans and much more consistently and
accurately .
Disadvantages:
 People can lose jobs in factories.
 It costs money to make or buy a robot.
 It needs maintenance to keep it running .

 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.
 Finally, as the technology improves, there will be
new ways to use robots which will bring new
hopes and new potentials.

 Jia Jia is China's latest super realistic humanoid robot.
It took 3 years to complete development.
 Jia Jia can speak, shows micro-expressions, move its
lips and body.

robotics

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