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<strong>Biomorph</strong> <strong>Machines</strong>
What’s <strong>Biomorph</strong> <strong>Machines</strong>?<br />
• Biomoprh (Biological<br />
Morphology ology )---)<br />
from BEAM (Solarobotics)!!<br />
• Other terms:<br />
1. Biomachine<br />
2. Biomimetic Robotics<br />
3. Biorobots
Pioneers<br />
Shigeo Hirose(<br />
) Brooks Rodeny<br />
• Shigeo Hirose<br />
• Research Since 1970. Research Since 1980<br />
• TITech HYR Lab. MIT AI Lab.<br />
• iRobot Co.<br />
• http://mozu.mes.titech<br />
/mozu.mes.titech.ac.jp/<br />
http://www.ai.mit.edu<br />
.ai.mit.edu/<br />
• Useful <strong>Biomorph</strong> <strong>Machines</strong> humanoid Robots
Big Events<br />
• Beginning from failures of humanoid Robots<br />
• 1970 Shigeo Hirose begin to research!!<br />
• 1980 Brooks Rodeny begin to research!!<br />
• 1992 “Stiquito<br />
& BEAM ” –kits<br />
• 1996 Sony Dream Robot<br />
• 1997 RoboCup At Nagoya ((<br />
)<br />
• 2002 Now!<br />
• Future Robots will be around us!!!!!!!!<br />
• We are biorobots!!!!!<br />
• Or ?????
<strong>Biomorph</strong>s: : what and who<br />
• Walking <strong>Biomorph</strong> <strong>Machines</strong>—U.C.Berkeley, Tokyo<br />
I.T.<br />
McGill McGill Univ., Stanford Univ., etc.<br />
• Underwater <strong>Biomorph</strong> <strong>Machines</strong>—MIT<br />
MIT<br />
• Flying <strong>Biomorph</strong> <strong>Machines</strong>—Georgia Tech R.I.<br />
• Humanoid <strong>Biomorph</strong> <strong>Machines</strong>—MIT,HONDA MIT,HONDA & SONY<br />
• Multiple mobile robots—Caltech<br />
• RoboCup—The Globe
Walking <strong>Biomorph</strong> <strong>Machines</strong><br />
http://rjf2.biol.berkeley.edu/<br />
Martin Buehler<br />
Robert Full<br />
+<br />
<br />
<br />
(McGill University )<br />
iRobot<br />
Mark Cutkosky<br />
(Stanford University )<br />
RHEX<br />
Ariel<br />
<br />
Spraw<br />
SDM (Shape Deposition Manufacturing )
RHEX<br />
• Sensor: ((<br />
!!)<br />
• Power supply:12V X2<br />
• Cost:$10000<br />
• Dynamic: <br />
• Purpose:Walking<br />
Martin Buehler<br />
McGill University<br />
http://www.cim.mcgill<br />
.cim.mcgill.ca/.ca/
Shigeo Hirose<br />
<br />
Snake-like Robots<br />
Walking Robot<br />
Souryu I<br />
TITAN<br />
III, IV<br />
Mark Tilden<br />
(Los Alamos National Laboratory)<br />
BEAM<br />
(Solarobotics) <br />
James M. Conrad<br />
(Research Triangle Park )<br />
Jonathan W. Mills<br />
<br />
Stiquito<br />
<br />
(Indiana University)
TITAN-VIII<br />
(Roller-Walker)<br />
• Sensor:Potentiometer for each joint<br />
• Power Supply: DC 30 to 48[v] (for motors)<br />
DC 5[v], +-15[v] +<br />
(for drivers)<br />
• Cost: 24 years , 40 persons<br />
• Dynamic: TITechDriver Ver. . 2<br />
• Purpose: Rescue(VII) ,Load(VIII)<br />
Shigeo Hirose<br />
TITech<br />
http://mozu.mes.titech<br />
/mozu.mes.titech.ac.jp.jp<br />
/hirohome.html<br />
Rocker Bogie Sole<br />
!!!~~
NINJA<br />
Shigeo Hirose<br />
TITech<br />
http://mozu.mes.titech<br />
/mozu.mes.titech.ac.jp/hirohom.jp/hirohom<br />
e.html<br />
Dynamic: A VM (Valve<br />
Dynamic: VM (Valve-regulated Multiple) suction pad<br />
Purpose: <br />
!! <br />
!!
• Sensor: (CCD x2+Microphone)<br />
• Power Supply:DC12V Battery<br />
• Dynamic: Motor 72W x1+17W x2<br />
• Purpose: Savior <br />
<br />
<br />
Shigeo Hirose TITech<br />
http://mozu.mes.titech<br />
/mozu.mes.titech.ac.jp/hirohome.html.html
Biology, Electronics,<br />
Aesthetics, Mechanics<br />
Mark Tilden<br />
Spyder VBug 1.0<br />
(Los Alamos National Laboratory) (Solarobotics)<br />
• Sensor:44Hz<br />
• Power Supply: 4.8V batteries<br />
Cost: cheap!! (solar cell motor<br />
transistors capacitor)<br />
• Cost: cheap!! (<br />
• Dynamic:Motor<br />
• Purpose: Neural Nets<br />
http://www.nis.lanl.gov/projects/robot/<br />
http://www.solarbotics.com/
Stiquito<br />
• Power Supply: 9V battery<br />
• Cost: $10<br />
• Dynamic: Nitinol Wires(<br />
)<br />
• Purpose: Muscle wire<br />
James M. Conrad<br />
(Research Triangle Park )<br />
Jonathan W. Mills<br />
(Indiana University)<br />
http://www.cs.indiana.edu/rob<br />
otics/colony.html
Another walking animal
Swinging Monkey
Underwater Robots<br />
Wanda<br />
• Power Supply:NiCd<br />
Batteries+17 V<br />
• Dynamic:<br />
• Purpose: Swimming<br />
John Kumph<br />
iRobot<br />
http://robosapiens.mit.edu/wanda.htm<br />
Ariel<br />
iRobot<br />
http://robosapiens.mit.edu/ariel.htm<br />
• Sensor: Motor position, foot contact, pressure<br />
(underwater), flow (underwater), compass,<br />
inclinometer, metal detectors<br />
• Power Supply:22 NiCd cells<br />
• Cost:$50000(materials only)<br />
• Dynamic:<br />
• Purpose: mine sweeping
Flying Robot -Entomopter<br />
• Power Supply: Uncertain<br />
• Dynamic: Reciprocating Chemical Muscle (RCM)<br />
• Purpose: Flying , <br />
!!<br />
• Animation: (mov file)<br />
Robert Michelson<br />
Georgia Institute of Technology
Humanoid--<br />
--Cog<br />
Brooks Rodeny, MIT AI Lab.<br />
• Sensor:<br />
X4,Microphone X2,<br />
,<br />
<br />
(<br />
),<br />
(<br />
),<br />
…..etc.<br />
• Power Supply:<br />
12V, 24V ,5V<br />
• Purpose:<br />
<br />
,<br />
<br />
http://www.ai.mit.edu/projects/humanoid-robotics-group/cog/cog.html
TMSUK04 T5<br />
<br />
http://www.tmsuk.co.jp/jap/index.html<br />
19931 19961 <br />
1997 <br />
TMSUK04 1999 <br />
T5 2000 <br />
<br />
<br />
<br />
!!<br />
TMSUK04-2
SDR-4X<br />
(Sony Dream Robot)<br />
1996<br />
~~<br />
<br />
!!<br />
1994 P1 1997 P2 2000P3<br />
ASIMO SDR<br />
http://www.watch.impress.co.jp/pc/docs/2002/0320/sony.htm<br />
PS: Prototype = ASIMO= short for Advanced Step in Innovative Mobility
Multiple mobile robots<br />
http://www.coro.caltech.edu/<br />
*Traffic:<br />
*Flocking<br />
*Track Odor<br />
*Building
RoboCup 2002<br />
• Simulation league<br />
• Small-size robot league (f-180)<br />
• Middle-size robot league (f-2000)<br />
• Four-legged robot league<br />
• Humanoid league<br />
http://www.robocup2002.org/
RoboCup 2001<br />
• Soccer Simulation League<br />
• Small-Size Size Robot League<br />
• Middle-Size Robot League<br />
• Sony Legged Robot League<br />
1. Tsinghuaeolus, P.R. China<br />
2. Brainstormers01, Germany<br />
3. FCPortugal2001, Portugal<br />
1. Lucky Star II , Singapore( )<br />
2. Field Rangers, Singapore<br />
3. Cornell Big Red, USA<br />
1. CS Freiburg, Germany<br />
2. Trackies, Japan<br />
3. Eigen, Japan<br />
1. UNSW United‘01, University of New South Wales, Australia( )<br />
2. CM-Pack'01, Carnegie Mellon University, USA<br />
3. UPennalizers'01, University of Pennsylvania, USA
2050<br />
- By the year 2050,<br />
develop a team of fully autonomous<br />
humanoid robots<br />
that can win against the human world<br />
soccer champion team. -
Planetary Exploration using Biomimetics
References<br />
• <br />
Peter<br />
<br />
Peter Menzel, , Faith Aluisio<br />
<br />
2002 <br />
• Web Links:<br />
http://robosapiens.mit.edu<br />
/robosapiens.mit.edu/links_01.htm<br />
http://robosapiens.mit.edu<br />
/robosapiens.mit.edu/links_02.htm<br />
http://robosapiens.mit.edu<br />
/robosapiens.mit.edu/links_03.htm<br />
http://robosapiens.mit.edu<br />
/robosapiens.mit.edu/links_04.htm<br />
http://robosapiens.mit.edu<br />
/robosapiens.mit.edu/links_05.htm<br />
http://robosapiens.mit.edu<br />
/robosapiens.mit.edu/links_06.htm
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