Many years of human factors research have shown that the development of efficient, effective and usable interfaces requires the inclusion of the user’s perspective throughout the entire design and development process. Many times interfaces are developed late in the process of design and development process with minimal user input. The result tends to be an interface that simply can not be employed to complete the actual users or the required tasks are unwilling accept the technology. Many of the issues that are raised also apply to HRI (Human-Robot Interface) development. According to Johnson’s book concentrates on Graphical User Interfaces, he listed the following principles:
• Consider function first then presentation later.
• Focus on the users and their tasks but not the technology.
• Confirm the task user’s view.
• Do not complicate the task of user.
• Promote learning.
• Design for responsiveness.
• Deliver information but not just data.
• Try out on users, and then fix it.
The user incorporation into the design process has for many years been termed UCD (User Centered Design). In addition to the work related to user center design, human factors research has concentrated on systems Complex Man-Machine. Such domains include cockpit design, air traffic control, chemicals processing plant and nuclear power plants. Here are many theories and results related to vigilance, operator workload, situation awareness, and human error that can also be applied to HRI development while these domains differ from robotics.
As an example of the parallels between human robotic systems and the above mentioned domains, consider a domain such as air traffic control. The air traffic controllers monitor a particular air space. While monitoring all the aircraft within the air space, these controllers act in a supervisory role. One could consider the controller as the operators monitoring a large team of robots and aircraft as individual robots.
Blog about Robotics Introduction, news of the robot, information about the robot, sharing knowledge about the various kinds of robots, shared an article about robots, and others associated with the robot
Robot Prototyping Framework
According to the condition of the robot process, the cardboard prototyping framework consist of three parameters, they are: CPs (Constant Parameters), APs (Additional parameters), and VPs (Variable Parameters). CPs is unchanged factors throughout the process like styling guidelines, styling concept, and information format. CPs is main factors linking each prototype to a framework systematic. Robot engineers and designers can efficiently approach every types of robot platform during the development process owing CPs. VPs are changed factors within earlier stages and the following stages. Tools, materials and detail information are included in the VPs. Fidelity of prototyping increases from the exchange of the VPs. APs are new supporting factors when starts the next stage. Factors of APs are an actuator for motion and other components standard for structuring. These factors are necessary in manufacturing and prototyping working.
The three types of parameters are the action factors to practice prototyping platform using DPs for mechanical FRs. The designer evolves a prototype from a concept to a final solution through the Robot Cardboard Prototyping System.
There are two cases of the implementation of kinematic cardboard prototyping. First, a styling prototype of high fidelity is suitable in between the conceptual design stage and the hardware platform construction stage. The prototype was easy to produce moderately and comparatively. Designer can improve the speed of production by connecting numerical control (NC) equipment. The robot was built with focus on appearance. Its appearance design is according to the mechanical drawings. Its component frames were designed considering engineering bolting and jointing. Gluing replaces bolting in this prototyping.
Physical prototypes were verified for real volumes and sizes, interference in moving and an array of inside wiring and components. In virtual model, these factors are not easy to evaluate and it is easy to modify forms in this prototype. Components are easy to cut and replace like a real sized clay model.
The three types of parameters are the action factors to practice prototyping platform using DPs for mechanical FRs. The designer evolves a prototype from a concept to a final solution through the Robot Cardboard Prototyping System.
There are two cases of the implementation of kinematic cardboard prototyping. First, a styling prototype of high fidelity is suitable in between the conceptual design stage and the hardware platform construction stage. The prototype was easy to produce moderately and comparatively. Designer can improve the speed of production by connecting numerical control (NC) equipment. The robot was built with focus on appearance. Its appearance design is according to the mechanical drawings. Its component frames were designed considering engineering bolting and jointing. Gluing replaces bolting in this prototyping.
Physical prototypes were verified for real volumes and sizes, interference in moving and an array of inside wiring and components. In virtual model, these factors are not easy to evaluate and it is easy to modify forms in this prototype. Components are easy to cut and replace like a real sized clay model.
Constraint for Development of Robot Prototyping
Recently, the general prototyping method for robot platform development is a pre-design kit consisting components format module. The present robot development trend uses the physical prototype form of the virtual prototype after computer simulations. Developers can quickly build dynamic locomotion patterns using a digital mock up. Thus robot prototypes are aimed at the verified concept of materialization, moving from virtual space to a real world. Developers are good at using ready made robots or pre-designed kit to save time and costs, and these saving pay for the development of new hardware components. But pre-designed kits limit the creativity of developers, so it is disadvantageous for development form. When using a commercial tool it is hard to connect mechanisms, form design and creative structural design.
The environment of robot prototyping consists of several subsystems, such as simulation, design, control, hardware selection, monitoring, part ordering, CAD/CAM modeling, physical assembly and testing. Robot prototyping has to satisfy engineering needs. The design factor should be linked closely with the prototype. The general process design includes the styling process and the engineering design process has a spiral structure of evaluation consisting of design, build and test. The result of the engineering evaluation process was accumulated to next process. But the styling result is renewed at every stage by changing the requirements of engineering functional.
The concept of a styling framework is a prototyping system connecting prototyping at each stage of the robot design to produce the end model. Each prototyping link in the system evolution system is combined with the manufacturing method and the material information.
Some improvements are needed for more effective robot design despite the advantages of cardboard prototyping. Cardboard prototyping has weaknesses, starting with the test engineering in robot development. This prototyping has no accuracy due to the model is built by hand. And other weakness is stiffness because of material. Accuracy can be increased b y using kinematic cardboard prototype into the late stages of robot design.
The environment of robot prototyping consists of several subsystems, such as simulation, design, control, hardware selection, monitoring, part ordering, CAD/CAM modeling, physical assembly and testing. Robot prototyping has to satisfy engineering needs. The design factor should be linked closely with the prototype. The general process design includes the styling process and the engineering design process has a spiral structure of evaluation consisting of design, build and test. The result of the engineering evaluation process was accumulated to next process. But the styling result is renewed at every stage by changing the requirements of engineering functional.
The concept of a styling framework is a prototyping system connecting prototyping at each stage of the robot design to produce the end model. Each prototyping link in the system evolution system is combined with the manufacturing method and the material information.
Some improvements are needed for more effective robot design despite the advantages of cardboard prototyping. Cardboard prototyping has weaknesses, starting with the test engineering in robot development. This prototyping has no accuracy due to the model is built by hand. And other weakness is stiffness because of material. Accuracy can be increased b y using kinematic cardboard prototype into the late stages of robot design.
Traditional Robot Prototyping
Form prototyping is a common practice in the early stages of the development process of mechanical engineering. Form prototyping is quick and depends on the new ideas of developers. Developers can construct a real scale form using this prototyping. This prototyping is an effective way for communicating ideas among developers, for instance doll armatures that are the skeletal frames for stop motion animation models and characters.
Pre-supplied and pre-designed mechanical kits are used universally in robot prototyping, starting with a virtual concept model. These kits are also used in mechanical design development that incorporates the hands on activities experience. The robot mechanical kits of worldwide standard are LEGO’s Mindstorms variations. In earlier mechanical concept development stages, a simpler design tool of mechanical like Homby’s was used. Mechanical kit toys such as Meccano are appropriate. LEGO, K’NEX, Erector Set, Fish Ertechnik, Robotix and Capsela have advantage in training in the developers of robots structure. A simple assembly kit using a notebook computer was developed in recent years. These robot kits consists functional modules and by mixing these modules we can increase the robots functions.
Ready-made robots are used in artificial intelligent (AI) research-related or software development as service robots. Some developers of robot can fine tune a ready made robot to meet their goals. Robot kits are ideal for robot developers who do not like the aspects of construction robotics, but instead want to concentrate on programming or electronics. These developers prefer O WIKITS and MOVITS which are precision made miniature robots in kit form.
Having a cardboard prototype body is an effective method for fast prototyping of robot. This is an effective technique for prototyping of robot, through it does not a produce a sturdy prototype. It is an advantage to constantly replace and rip out parts with slightly improved alternatives. It is possible to make cardboard products that have sufficient compressive strength to carry structural loads.
Pre-supplied and pre-designed mechanical kits are used universally in robot prototyping, starting with a virtual concept model. These kits are also used in mechanical design development that incorporates the hands on activities experience. The robot mechanical kits of worldwide standard are LEGO’s Mindstorms variations. In earlier mechanical concept development stages, a simpler design tool of mechanical like Homby’s was used. Mechanical kit toys such as Meccano are appropriate. LEGO, K’NEX, Erector Set, Fish Ertechnik, Robotix and Capsela have advantage in training in the developers of robots structure. A simple assembly kit using a notebook computer was developed in recent years. These robot kits consists functional modules and by mixing these modules we can increase the robots functions.
Ready-made robots are used in artificial intelligent (AI) research-related or software development as service robots. Some developers of robot can fine tune a ready made robot to meet their goals. Robot kits are ideal for robot developers who do not like the aspects of construction robotics, but instead want to concentrate on programming or electronics. These developers prefer O WIKITS and MOVITS which are precision made miniature robots in kit form.
Having a cardboard prototype body is an effective method for fast prototyping of robot. This is an effective technique for prototyping of robot, through it does not a produce a sturdy prototype. It is an advantage to constantly replace and rip out parts with slightly improved alternatives. It is possible to make cardboard products that have sufficient compressive strength to carry structural loads.
Configuration and Control System of ASIMO
The robot’s size was chosen to allow it to operate in the human living space freely and make it people friendly. When designing ASIMO, Honda engineers studied the reach of the robot hand and its squatting position to access things, such as light switches, doorknobs, electric outlet and other things in the daily life environment. The robot’s location elbow and shoulder is dictated by the normal height of workbenches and desks. The current ASIMO is Honda’s first prototype robot that is capable of tackling both indoor and off-road environments.
ASIMO shoulder are positioned at 910mm height, allowing it to benefit from an upper reach as high as 1290mm. its leg are 610mm which allow it to go up and down stairs. ASIMO has 1200mm tall in total. ASIMO’s width 450mm and has depth of 440mm. so that can pass easily through narrow corridors and doorways. ASIMO’s joint link configuration is partly modified from the previous prototypes. This configuration is the same as P3 for the legs. The shoulder angle has been extended to allow the function in a wider operational space for the arms, and when the degrees of freedom in its wrists have been reduced, it’s fitted with motor driven five finger hands.
To help with the control and movement of ASIM, it is around 20 CPUs and a large number of sensors are installed into the robot. Several of theses are used in each of the robot’s subsystems, including audio visual sensing and recognition, the actuation of its arm and legs, communication with the operator, and power management. Those are installed in various places around its body, including a number of CPUs. The present ASIMO has improved greatly its interaction and communication with both its environments and operators. ASIMO’s walking functions allowing it to walk smoothly, stable way and flexible.
ASIMO shoulder are positioned at 910mm height, allowing it to benefit from an upper reach as high as 1290mm. its leg are 610mm which allow it to go up and down stairs. ASIMO has 1200mm tall in total. ASIMO’s width 450mm and has depth of 440mm. so that can pass easily through narrow corridors and doorways. ASIMO’s joint link configuration is partly modified from the previous prototypes. This configuration is the same as P3 for the legs. The shoulder angle has been extended to allow the function in a wider operational space for the arms, and when the degrees of freedom in its wrists have been reduced, it’s fitted with motor driven five finger hands.
To help with the control and movement of ASIM, it is around 20 CPUs and a large number of sensors are installed into the robot. Several of theses are used in each of the robot’s subsystems, including audio visual sensing and recognition, the actuation of its arm and legs, communication with the operator, and power management. Those are installed in various places around its body, including a number of CPUs. The present ASIMO has improved greatly its interaction and communication with both its environments and operators. ASIMO’s walking functions allowing it to walk smoothly, stable way and flexible.
Honda’s Robot Development from E4 to ASIMO
Since 1991 to 1993 Honda researched focus on the completing the basic functions of two-legged walking and establishing technology for stable walking, they are E4, E5 and E6. The final robot in the series, E6, was the last of Honda’s robots with only legs and benefited from the integration of all the autonomous walking functions developed thus far into one self-contained system. Environment maps were installed at the stage to aid its navigation.
Since 1993, work began in developing a completely independent humanoid robot. And Honda announced the world’s first self-regulating, two legged humanoid robot called P2 (prototype 2) in December 1996. Its tall was 182 cm and weight 210kg.
The torso contained a computer, 32 motors, a battery, using wireless technique, a wireless radio and other necessary devices, all of which were built into the robot. In this early prototypes, walking down and up stairs, independent walking, trolley pushing and other simple operations were also achieved wirelessly, allowing the robot operate independently. These robots also benefited from the number sensors introduction, including gyros fiber optics, ground reaction force sensors, inclination sensors and four cameras.
P2’s degrees of freedom were as follows, arms, 14 (7X2); legs, 12 (6X2); hands, 4 (2X2); and cameras, 4 (2X2). While P2 was a major advance in Honda’s robotic research, there were still many areas that improvements needed, for example, P2 was far too heavy and large, and it had operational time of only 15 minutes. Improvements to the robots maintenance and reliability were required.
P2 led to the development of P3 (prototypes 3). The major difference between P3 and previous prototypes was its reduce size and weight, 160 cm tall and 130kg weight. It also replaced the existing motor with brushless DC motors to improve the reliability.
From P2 and P3 experience the research began on new technology for actual use. ASIMO represents the fruition of the pursuit and the latest biped robot. ASIMO stands for Advanced Step in Innovative Mobility. ASIMO was conceived to function in actual human living environment in the near future.
Since 1993, work began in developing a completely independent humanoid robot. And Honda announced the world’s first self-regulating, two legged humanoid robot called P2 (prototype 2) in December 1996. Its tall was 182 cm and weight 210kg.
The torso contained a computer, 32 motors, a battery, using wireless technique, a wireless radio and other necessary devices, all of which were built into the robot. In this early prototypes, walking down and up stairs, independent walking, trolley pushing and other simple operations were also achieved wirelessly, allowing the robot operate independently. These robots also benefited from the number sensors introduction, including gyros fiber optics, ground reaction force sensors, inclination sensors and four cameras.
P2’s degrees of freedom were as follows, arms, 14 (7X2); legs, 12 (6X2); hands, 4 (2X2); and cameras, 4 (2X2). While P2 was a major advance in Honda’s robotic research, there were still many areas that improvements needed, for example, P2 was far too heavy and large, and it had operational time of only 15 minutes. Improvements to the robots maintenance and reliability were required.
P2 led to the development of P3 (prototypes 3). The major difference between P3 and previous prototypes was its reduce size and weight, 160 cm tall and 130kg weight. It also replaced the existing motor with brushless DC motors to improve the reliability.
From P2 and P3 experience the research began on new technology for actual use. ASIMO represents the fruition of the pursuit and the latest biped robot. ASIMO stands for Advanced Step in Innovative Mobility. ASIMO was conceived to function in actual human living environment in the near future.
Evolution of Honda Humanoid Robot E0 to E3
Honda was researched into bipedal humanoid robots began in 1986. The first milestone was to develop of prototype of bipedal that could walk in a static and straight way. It was from this progress early that were able to reach the next key stage of development, which was to develop a more stable and dynamic form of walking. Coupled with this was the need to walking of master over uneven surfaces and then stairs. A torso and two arms were successfully added to complete the first truly humanoid robot in 1993.
The next was to modify the robots so that it could operate and adapt in real world environments. This development stage saw the robot’s structure and operating systems become lighter and smaller. It was also in this phase that aids of communication were introduced as well as the early intelligence stages, allowing the robot to interact and recognize with people.
Honda’s research is continuing and with this will bring further improvements, which will see ASIMO moving closer to becoming a viable and real assistant for people in our human environment.
E0 was Honda’s first robot (E means Electronics) and with this Honda took on the challenges of creating a two-legged robot that could walk. Walking by placing one leg before the other was successfully reached, and this was assisted by the application of linear actuators to its joints. However it was taking 30s between steps, it walked very slowly in straight line. To increase the speed and to allow the robot to walk on slopes or uneven surfaces, faster walking speeds need to be achieved.
On the next stages from E1 through to E3, human walking was thoroughly researched and analyzed. It was through these studies that a faster walking program was created and input into the robot. It is the history of Honda robot developments, E1 saw the introduction of a basic joint structure. E2 achieved the first dynamic walking robot, which could also go down and up stairs. E3 was able to increase the walking speed up to 4.7 km/h. it also could carry a payload of 70kg.
The next was to modify the robots so that it could operate and adapt in real world environments. This development stage saw the robot’s structure and operating systems become lighter and smaller. It was also in this phase that aids of communication were introduced as well as the early intelligence stages, allowing the robot to interact and recognize with people.
Honda’s research is continuing and with this will bring further improvements, which will see ASIMO moving closer to becoming a viable and real assistant for people in our human environment.
E0 was Honda’s first robot (E means Electronics) and with this Honda took on the challenges of creating a two-legged robot that could walk. Walking by placing one leg before the other was successfully reached, and this was assisted by the application of linear actuators to its joints. However it was taking 30s between steps, it walked very slowly in straight line. To increase the speed and to allow the robot to walk on slopes or uneven surfaces, faster walking speeds need to be achieved.
On the next stages from E1 through to E3, human walking was thoroughly researched and analyzed. It was through these studies that a faster walking program was created and input into the robot. It is the history of Honda robot developments, E1 saw the introduction of a basic joint structure. E2 achieved the first dynamic walking robot, which could also go down and up stairs. E3 was able to increase the walking speed up to 4.7 km/h. it also could carry a payload of 70kg.
Subscribe to:
Posts (Atom)
