Yoshihiro Kuroki

A small biped entertainment robot exploring attractive applications

SDR-4X is the latest prototype model, which remains a small humanoid type robot and is expanding its capabilities for the adaptability in home environment. Some of the new key technologies have been developed for SDR-4X. The first is newly developed small robot actuators named ISA-4, the second is real-time integrated adaptive motion control. The third is a motion creating software system, which allows us to create SDRs attractive motion performances. The fourth technology is real-time real-world space perception, and the fifth is multi-modal human robot interaction. These five technologies enable to realize a capable robot that can be adopted with human in home environment. In addition, we have explored and developed entertainment applications using these technologies. A cappella chorus performance and a high-tempo dance performance are introduced as the attractive applications.

Autonomous behavior control architecture of entertainment humanoid robot SDR-4X

In this paper we describe the autonomous behavior control architecture of SDR-4X, which serves to integrate multi-modal recognition and motion control technologies. We overview the entire software architecture of SDR-4X, which is composed of perception, short and long term memory, behavior control, and motion control parts. Regarding autonomous behavior control, we further focus on issues such as spontaneous behavior generation using a homeostasis regulation mechanism, and a behavior control/selection mechanism with tree-structured situated behavior modules. In the autonomous behavior control architecture, we achieve three basic requirements, which are the concurrent evaluation of the situation of each behavior module, concurrent execution of multiple behavior modules, and preemption (behavior interruption/resume capability). Using the autonomous behavior control architecture described, we demonstrate that SDR-4X can spontaneously and passively interact with a human.

Motion entertainment by a small humanoid robot based on OPEN-R

In this paper we propose a novel application of a humanoid robot: Motion Entertainment, i.e., entertaining people with motion performance of a small humanoid robot. We develop a prototype humanoid robot named SDR-3X, which is about 50 cm height with 26 DOF. Performing to high tempo music with fast speed whole body motion can provide a big impact to an audience. Some key technologies such as a newly developed actuator enable the realization of SDR-3X. In addition, the use of OPEN-R is another key factor for quick development. We describe the architecture and the key technologies of SDR-3X. We also describe a demonstration of Motion Entertainment by SDR-3X.

Mechanical system of a small biped entertainment robot

SDR-4X is the latest prototype model, which is a small humanoid type robot. We reported the outline of this robot last year. In this paper we discuss more about mechanical system, which is important and original for a small biped entertainment robot, which will be used, in home environment. One technology is the design of actuators alignment in the body, which enables dynamic motion performance. Another technology is the actuator technology, which we originally developed, named intelligent servo actuator (ISA). We explain the specification and the important technical points. Next technology is the sensor system, which supports the high performance of the robot, especially the detection of outside objects, ability of stable walking motion and safe interaction with human. The robot is used in normal home environment, so we should strongly consider the falling-over of the robot. We propose the ideas against falling-over which makes the robot as safe as possible.

Motion creating system for a small biped entertainment robot

SDR-4X is a small biped entertainment robot with expanded capabilities for a variety of motion performances. We developed the SDR motion creating system and the whole body adaptive motion control for SDR. This software system makes it easy to produce creative motion performances that include stable biped walking and dance steps synchronized to music. The motion creating system is composed of two parts: the motion editor used to edit upper body motion and whole body motion, and the foot trajectory editor used to create stable lower body motion. Once the upper and lower body motions are created, the system allows the motion designer to inspection the whole body motion before applying it to SDR-4X. The process of creating a fast-paced dance performance is introduced as an attractive application of this software system.

A small biped entertainment robot exploring human-robot interactive applications

A small biped entertainment robot SDR-4X II is expanding its capabilities for the adaptability in home environment with enhanced core technologies. Conspicuous enhancements are safe design and functions such as integrated adaptive fall-over motion control, pinch avoidance motion control and lift-up motion control for safe interaction with human. We have also developed and enhanced new robot actuators, ISA and real-time integrated adaptive motion control system as a comprehensive motion control for SDR to realize the dynamic and smooth/elegant motion performances. One of the significant motion control related technologies is motion creating system which allows us to create SDRs attractive motion performances. In addition, we have explored and developed entertainment applications using these technologies. A singing dance performance and a fast-paced dance performance are introduced as the attractive applications.

Development of mechanical system for a small biped entertainment robot

SDR-4XII is the latest prototype model which is a small humanoid type robot. We reported the outline of the robot SDR-4X last year. SDR-4X II is the improved model of SDR-4X. In this paper we discuss about mechanical system which is important and original for a small biped entertainment robot which is used in home environment. One technology is the actuator technology which we originally developed named Intelligent Servo Actuator (ISA). We explain the specification and the important technical points. Another technology is the design of actuators alignment in the body which enables dynamic motion performance. Next technology is the sensor system which supports the high performance of the robot, especially the detection of outside objects, ability of stable walking motion and safe interaction with human. The robot is used in normal home environment, so we should strongly consider the falling-over of the robot. We propose the ideas against falling-over which makes the robot as safe as possible.

SDR-4X II: A Small Humanoid as an Entertainer in Home Environment

In this paper we describe the autonomous behavior control architecture of SDR-4X II, which serves to integrate multi-modal recognition and motion control technologies. We overview the entire software architecture of SDR-4X II, which is composed of perception, short and long term memory, behavior control, and motion control parts. Regarding autonomous behavior control, we further focus on issues such as spontaneous behavior generation using a homeostasis regulation mechanism, and a behavior control/selection mechanism with tree-structured situated behavior modules. In the autonomous behavior control architecture, we achieve three basic requirements, which are the concurrent evaluation of the situation of each behavior module, concurrent execution of multiple behavior modules, and preemption (behavior interruption/resume capability). Using the autonomous behavior control architecture described, we demonstrate that SDR-4X II can spontaneously and passively interact with a human.

Analysis of motions of a small biped entertainment robot

SDR-4X II is the latest prototype model which is a small biped entertainment robot. Formerly we reported the outline of SDR-4X II, and mechanical system, control system and sensor system. In this paper we report about analysis of various important motions of this small biped entertainment robot which is used in home environment. Humanoid type robot basically has very small foot area and the standing stability is essentially very low. Therefore we do not try that the robot never falls down, but we have to think that the robot sometimes surely falls down by some reasons. And when it falls down, the robot should not be damaged and stand up by himself. In this paper, we describe the method of falling-over and standing up motions and analyze the measured joint angle data and confirm the successfulness of our measures. The major point of the shock absorbing method is the motion of effective joints and the real-time servo loop gain modification control. Lastly as one of the important motions, the wide-angle turn motion analysis is explained.

Development of sensor system of a small biped entertainment robot

SDR-4X II is the latest prototype model which is a small biped entertainment robot. We improved the SDR-4X. In this paper we report about the sensor system of this robot which is important and essential for a small biped entertainment robot which can be used in the home environment. One technology is the design of a vision sensor system. The configuration and the distance image acquisition are explained. Another technology is the audio sensor system technology which obtains the sound and the voice information. The hardware system and the direction recognition are explained. Next technology is the inclination sensor system and the force sensor system which obtains the inclination of the trunk and the foot with force. These sensor systems are the key to make the biped robot walking and dynamic motion highly stable. The robot is used in normal home environment, so we should strongly consider the safety for humans. Lastly we explain the safety sensor system for humans.