Android and Humanoid science

PAPER PRESENTATION
ON
ANDROID AND HUMANOID SCIENCE

Presented by

S.V. Phani Kumar Y. Vijaya Kumar

Phani.imagination@gmail.com Skyyouthvijay@gmail.com

Nova College of engg &Tech.,

Vegavaram.
 Android and Humanoid science

ABSTRACT

Android science is a new interdisciplinary framework for studying human cognition and
Inter-action based on the premise that a very humanlike robot can elicit the sort of responses
people typically direct toward each other. Two approaches are necessary: one from robotics
and the other from cognitive science. The approach from robotics tries to build very humanlike
robots based on knowledge from cognitive science. The approach from cognitive science uses
the robot for verifying hypotheses for understanding humans. We call this cross-
interdisciplinary framework android science.

A fundamental issue in android science is the existence of the uncanny valley. As robots appear
more human, they seem more familiar; until a point is reached at which subtle imperfections
create a sensation of strangeness. Our important role is to verify the existence of the uncanny
valley and to explore how to overcome the uncanny valley problem with androids.

Android robots are capable of handling complex tasks that includes recognition of vocal
commands, logical inference, autonomous navigation and manipulation, etc. To accomplish
intelligent behaviors, researchers have proposed a number of control software architectures such
as tripodal schematic control architecture (TSCA). To achieve real-time performance for robot's
navigation, we have implemented software components in the reactive layer of TSCA on RTAI
(Real-Time Application Interface) for our intelligent robot

Introduction:-
 Android and Humanoid science
ANDROID:-

An android is a robot or synthetic organism designed to look and act like a human. The term
was first mentioned by St. Albertus Magnus in 1270 and was popularized by the French writer
Villiers in his 1886 novel L'Ève future, although the term "android" appears in US patents as
early as 1863 in reference to miniature humanlike toy automations.
Androids have been mainly an element of science fiction, yet it is increasingly becoming a
reality in Japan and South Korea. The two countries are in a heated competition to make them a
commercial success in the global market and have developed a handful of successful androids
so far.
Android robots are created to imitate some of the same physical and mental tasks that humans
undergo daily. Scientists and specialists from many different fields including engineering,
cognitive science, and linguistics combine their efforts to create a robot as human-like as
possible.
The Android robot is capable walking, running, somersaulting and standing up from a face-up or face-down lying
position. It can even be programmed to pull itself up autonomously after it has fallen over. It stands 13” tall, has 17
servo actuated joints (i.e., 17 degrees of freedom), a powerful 60MHz HV processor with 512kB ROM / 64kB
RAM and comes fully loaded with over 75 preprogrammed motions.

HUMANOID:-
 Android and Humanoid science

A humanoid is a hybrid term from Latin humanus "human" and the Greek -oeides expressing
likeness. The term was coined in the year of 1918 to refer to fossils considered close to human
but not strictly human. A humanoid robot is a robot with its overall appearance based on that
of the human body, allowing interaction with made-for-human tools or environments. In general
humanoid robots have a torso with a head, two arms and two legs, although some forms of
humanoid robots may model only part of the body, for example, from the waist up. Some
humanoid robots may also have a 'face', with 'eyes' and 'mouth'. Androids are humanoid robots
built to aesthetically resemble a human. A humanoid robot is an autonomous robot because it
can adapt to changes in its environment or itself and continue to reach its goal.

Robotics:-

Robotics is the science and technology of robots, and their design, manufacture, and
application. Robotics is related to electronics, mechanics, and software. The first recorded use of
the term was by Isaac Asimov in his 1941 science fiction short-story “Liar!” The first digitally
operated and programmable robot, the Unimate, was installed in 1961 to lift hot pieces of metal
from a die casting machine and stack them. Today, commercial and industrial robots are in
widespread use performing jobs cheaper or more accurately and reliably than humans. They are
also employed for jobs which are too dirty, dangerous, or dull to be suitable for humans. Robots
are widely used in manufacturing, assembly and packing, transport, earth and space exploration,
surgery, weaponry, laboratory research, safety, and mass production of consumer and industrial
goods
 Android and Humanoid science
Structure of Android:-

The structure of an android is usually mostly mechanical and can be called a kinematic chain
(its functionality being similar to the skeleton of the human body). The chain is formed of links
(its bones), actuators (its muscles), and joints which can allow one or more degrees of freedom.
Most contemporary android use open serial chains in which each link connects the one before to
the one after it. These android are called serial robots and often resemble the human arm.
Robots used as manipulators have an end effectors mounted on the last link. These end effectors
can be anything from a welding device to a mechanical hand used to manipulate the
environment.

Components of Android:-

Sensors:-

A sensor is a device that measures some attribute of the world. Being one of the three primitives
of robotics (besides planning and control), sensing plays an important role in paradigms.
Sensors can be classified according to the physical process with which they work or according
to the type of measurement information that they give as output. In this case, the second
approach was used.
 Android and Humanoid science
Proprioceptive Sensors

Proprioceptive sensors sense the position, the orientation and the speed of the humanoid's body
and joints. In human beings inner ears are used to maintain balance and orientation. Humanoid
robots use accelerometers to measure the acceleration, from which velocity can be calculated by
integration; tilt sensors to measure inclination; force sensors placed in robot's hands and feet to
measure contact force with environment; position sensors, that indicate the actual position of the
robot (from which the velocity can be calculated by derivation) or even speed sensors.

Exteroceptive Sensors

Exteroceptive sensors give the robot information about the surrounding environment allowing
the robot to interact with the world. The exteroceptive sensors are classified according to their
functionality.

Proximity sensors

Proximity sensors are used to measure the relative distance (range) between the sensor and
objects in the environment. They perform the same task that vision and tactile senses do in
human beings. There are other kinds of proximity measurements, like laser ranging, the usage of
stereo cameras, or the projection of a colored line, grid or pattern of dots to observe how the
pattern is distorted by the environment. To sense proximity, humanoid robots can use sonar’s
and infrared sensors, or tactile sensors like bump sensors, whiskers (or feelers), capacitive and
piezoresistive sensors.
 Android and Humanoid science

Adult android: it has 42 air actuators in

the upper torso. The appearance is
realized by making a copy of an existing
person.

Facial expressions of the adult

android: 13 of the 42 actuators are used
in the head. Humanlike facial expressions
are realized by the motion of the eyes and
mouth.

Android projects and its applications:-

Japanese projects:-
DER 01, Japanese android

The Intelligent Robotics Lab, directed by Hiroshi Ishiguro at Osaka

University, and Kokoro Co., Ltd. have demonstrated the Android at Expo
2005 in Aichi Prefecture, Japan. In 2006, Kokoro Co. developed a new
DER 2 android. The height of the human body part of DER2 is 165 cm.
There are 47 mobile points. DER2 can not only change its expression but
also move its hands and feet and twist its body.

The "air servo system" which Kokoro Co. developed originally is used for the actuator. As a
result of having an actuator controlled precisely with air pressure via a servo system, the
movement is very fluid and there is very little noise. DER2 realized a slimmer body than that of
the former version by using a smaller cylinder. Outwardly DER2 has a more beautiful
 Android and Humanoid science
proportion. The smoothness of her movement has also been improved, making it now even more
likely for the uninitiated to confuse her with an actual human being. Once programmed, she is
able to choreograph her motions and gestures with her voice.

The Intelligent Mechatronics Lab, directed by Hiroshi Kobayashi at the Tokyo University of
Science, has developed an android head called Saya, which was exhibited at Robodex 2002 in
Yokohama, Japan. There are several other initiatives around the world involving humanoid
research and development at this time, which will hopefully introduce a broader spectrum of
realized technology in the near future. Now Saya is working at the Science University of Tokyo
as a guide. The robot expresses his/her face by moving all points to the decided positions, they
say. The first version of the robot was first developed back in 2003. After that, a year later, they
did a couple of major improvements in the design. The robot features an elastic mask made from
the average head dummy. It uses a driving system with a 3DOF unit. The WD-2 robot can
change its facial features by activating specific facial points on a mask, with each point
possessing three degrees of freedom. This one has 17 facial points, for a total of 56 degrees of
freedom. As for the materials they used, the WD-2's mask is fabricated with a highly elastic
material called Septom, with bits of steel wool mixed in for added strength.

Korean projects:-

EveR-1, the world's second female android, can express human emotions
and have a conversation in Korean and English

EveR-1 is a female android, developed by a team of South Korean scientists from the Korea
Institute of Industrial Technology in Korea University of Science and Technology. The project
is headed by Baeg Moon-hong in Seoul on May 4, 2006. Its name is derived from the
combination of the Biblical "Eve" and the r from robot.EveR-1 is a direct competitor of Actroid,
which is being developed by Kokoro Dreams and Osaka University of Japan and was unveiled
at the International Robot Exhibition in Tokyo in 2003. EveR-1 was built in a year at a cost of
300 million won (US$321,000) in state funds. The creators said the humanoid's face is a
 Android and Humanoid science
composite of two well-known Korean actresses, while the torso is based on a singer, though the
names of the celebrities were not revealed. The android weighs 50 kilograms and has a height of
160 centimeters.

The creators also said that EveR-1 can mimic the human emotions of happiness, sadness, anger,
and surprise more naturally than its Japanese rival, while using a hydraulic system for certain
movements. EveR-1 contains a total of 35 miniature motors located throughout its upper body,
which enables EveR-1 to move its head, arms, and upper body and even move its lips in
synchronization with the robot's speech. Its skin is made of synthetic, pliable silicone jelly that
feels similar to human skin. The android can recognize 400 Korean and English words, allowing
it to respond to questions both verbally and through 15 facial expressions: EveR-1 will show
displeasure if you poke her. The android also has motion data process sensors in its artificial
eyes, enabling it to follow people with its eye.

EveR-2 is more advanced than its predecessor, and is the first android in the
world to have the ability to sing.

EveR-2 is the successor of EveR-1, which performed at Robot World 2006 in Seoul, has
improved vision and ability to express emotions, as well as various other enhancements.
Boredom is now an available emotion, along with the usual joy, anger, sorrow, and happiness.
She sang the Korean ballad "I Will Close My Eyes for You" during the opening ceremony at the
Robot World 2006 conference in Seoul, which made her the first android singer in the world.
She is about 5'7" (170cm) tall and weighs about 135 pounds (60kg). Her silicone-covered face
has a higher flexibility; 29 motors and dozens of joints provide 23 degrees of freedom for self-
expression. In total, EveR-2 has 25 more degrees of freedom than EveR-1. Her improved speech
recognition, voice synthesis and gesture expression technology allows for more sophisticated
communication and interaction with a human.

Different types of Androids and Humanoids:-

Kismet:-
 Android and Humanoid science
Kismet is a android made in the late 1990s at MIT with auditory, visual and expressive systems

intended to participate in human social interaction and to demonstrate simulated human emotion

and appearance. The name Kismet comes from the Arabic, Turkish, Urdu, Hindi and Punjabi

word meaning "fate" or sometimes "luck".

TOPIO:-

TOPIO ("TOSY Ping Pong Playing Robot") is a bipedal humanoid robot designed to play table
tennis against a human being. It was developed in 2005 by TOSY, a robotics firm in the country
of Vietnam. It was publicly demonstrated at the Tokyo International Robot Exhibition (TIPE)
on November 28, 2007. TOPIO 2.0 (the latest vesion of TOPIO) stands approximately 2.1 m tall
and weighs 60 kg.

TOPIO 2.0 TOPIO 1.0

ASIMO:-

ASIMO is a humanoid robot created by Honda. Standing at 130 centimeters (4 feet 3 inches)
and weighing 54 kilograms (114 pounds), the robot resembles a small astronaut wearing a
backpack and can walk or run on two feet at speeds up to 6 km/h (4.3 mph), matching EMIEW.
ASIMO was created at Honda's Research & Development Wako Fundamental Technical
 Android and Humanoid science
Research Center in Japan. It is the current model in a line of eleven that began in 1986 with E0.

Honda E series:-

The E-series was a collection of successive humanoid robots created by the Honda Motor
Company between 1986 and 1991. The fact that Honda had been developing the robots was
secret until the announcement of the Honda P2 in 1996.

E0, unveiled in 1986, was the very first robot. It walked in a straight line on two feet, in a
manner resembling human locomotion, taking around 5 seconds to complete a single step.
Quickly engineers realized that in order to walk up slopes, the robot would need to travel faster.
The model has 6 degrees of freedom: 1 in each groin, 1 in each knee and 1 in each ankle.E1,
unveiled in 1987, was larger than the first and walked at 0.25 km/h. Since the model, the E-
series robots have 12 degrees of freedom: 3 in each groin, 1 in each knee and 2 in each
ankle.E2, unveiled in 1989, could travel at 1.2km/h, through the development of 'dynamic
movement.E3, unveiled in 1991, travelled at 3km/h, the average speed of a walking human.
E4, unveiled in 1991, lengthened the knee to achieve speeds of up to 4.7km/h.E5, unveiled in
1992, was able to walk autonomously, albeit with a very large head.E6, unveiled in 1993, was
able to autonomously balance, walk over obstacles, and even climb stairs
 Android and Humanoid science

Honda P-series:-

The P-series is a chronological progression of prototype humanoid robots as developed by

Honda. The research conducted allowed the eventual creation of ASIMO.

HUBO:-

HUBO is a walking humanoid robot, head mounted on a life-size walking bipedal frame,
developed by the Korea Advanced Institute of Science and Technology (KAIST) and released
on January 6, 2005. Hubo is short form for "humanoid robot."Hubo has voice recognition and
synthesis faculties, as well as sophisticated vision in which its two eyes move independently of
one another.QRIO:-
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QRIO ("Quest for curiosity", originally named Sony Dream Robot or SDR) was to be a bipedal
humanoid entertainment robot developed and marketed (but never sold) by Sony to follow up on
the success of its AIBO toy. QRIO stood approximately 0.6 m (2 feet) tall and weighed 7.3 kg
(16 pounds). QRIO's slogan was "Makes life fun makes you happy!"

Conclusion:-

Android robots are used as a research tool in several scientific areas. A researcher needs to
understand the human body structure and behavior (biomechanics) to build and study Android
robots. On the other side, the attempt to simulate the human body leads to a better understanding
of it. Human is a field of study which is focused on how humans learn from sensory information
in order to acquire perceptual and motor skills. This knowledge is used to develop
computational models of human behavior and it has been improving over time. It has been
suggested that very advanced robotics will facilitate the enhancement of ordinary humans.

Although the initial aim of Android research was to build better orthosis and prosthesis for
human beings, knowledge has been transferred between both disciplines. A few examples are:
powered leg prosthesis for neuromuscular impaired, ankle-foot orthosis, biological realistic leg
prosthesis and forearm prosthesis. Besides the research, humanoid robots are being developed to
perform human tasks like personal assistance, where they should be able to assist the sick and
elderly, and dirty or dangerous jobs. Regular jobs like being a receptionist or a worker of an
automotive manufacturing line are also suitable for humanoids.

Humanoid robots, especially with artificial intelligence algorithms, could be useful for future
dangerous and/or distant space exploration missions, without having the need to turn back
around again and return to Earth once the mission is completed