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MAP An Article from the November 2003 JOM: A Hypertext-Enhanced Article |
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The author of this article is managing editor of JOM. |
Exploring traditional, innovative, and revolutionary issues in the minerals,
metals, and materials fields.
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OUR LATEST ISSUE |
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Feature: Materials World
Personification: The Materials Science and Engineering of Humanoid Robots |
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Figure 1. ASIMO’S climbing techniques are a first for humanoid robots. Photo courtesy of Honda Motor Company. |
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Contrary to the musings of pulp
science fiction writers, robots pose
little threat of taking over the world
anytime soon. They can barely walk, are
incapable of independent thought, and
run out of energy quickly.
In laboratories around the world,
though, researchers are working at
solving those problems and others,
opening the door for development of a
robot that can mimic humans. Progress
is evident in several arenas. For instance,
within the last year robots have begun to
populate nursing homes, where doctors
use them as a “remote presence” to
monitor patients. In the last two years, a
major international robot competition
added a humanoid category, with the
ultimate goal of a robot-human competition.
One company has developed a
humanoid that it suggests could provide
friendly conversation based on its
owner’s interests. Maybe world domination
is not in the future of humanoid
robots. But making the world a more
interesting place just might be.
It rang the opening bell on the
New York Stock Exchange. It greeted
visitors to Honda Motor Company’s
headquarters in Japan. It shook hands
with the prime minister of Thailand.
This well-traveled mass of magnesium
is a humanoid robot known as ASIMO,
an acronym for Advanced Step in
Innovative Mobility (Figure 1). As
hinted by its name, the robot’s claim
to fame is its ability to walk and climb
stairs. ASIMO, billed by Honda as the
world’s most advanced humanoid robot,
is the result of 17 years and untold
millions of dollars in R&D.
With a body of lightweight magnesium
coated with a plastic resin, ASIMO was an exercise in mobility research,
said Jeffrey Smith, leader of the ASIMO project in North America. The intent,
Smith said, was to design a robot
that was mobile, able to maneuver in
household environments, friendly to
look at—cute, even—and tall enough
to look into the face of a seated human
to receive voice and visual messages, such as “open the door” or “turn off
the light.” “On the most basic level,
Honda built ASIMO to help people,” Smith said.
The work began in 1986, with a
two-legged robot that walked very
slowly and fell frequently. Subsequent
iterations were based on exhaustive
research into the mechanics of walking
of humans and animals. The mobility
of the current design benefits from what
is called “prediction motion control,” which allows the robot to predict its
next move and shift its center of gravity
accordingly. Earlier versions walked
and turned according to combinations
of stored walking patterns rather than
making real-time adjustments. In addition,
ASIMO has 26 degrees of freedom,
including movable knees, hips, and feet,
all of which help the robot maintain
control while walking.
One day, the company envisions the robot helping the elderly or sick,
but the cost will have to come down
significantly first. Not counting the
R&D investment, ASIMO cost about
$1 million to build, Smith said, and
inexpensive mass production is still far
enough in the future that no one from
Honda will speculate publicly when that
might occur. Power is another obstacle
to practical use. The robot is powered by
a 40 V nickel metal hydride battery, and
can operate approximately 30 minutes
before the battery must be recharged.
Although lithium-ion batteries might
offer improved performance, “the future
of ASIMO is in fuel cell power,” Smith
said. “That’s a long way off.”
The robot, while equipped with voice
and face recognition technology, is
controlled by wireless computers and
was not designed to be an artificial
intelligence showcase, Smith said. “Its
real intelligence is in the advanced
technology with which it is equipped,” he said. Still, when the robot, currently
on tour in the United States, enters an
auditorium and walks smoothly to the
edge of the stage, surveys the crowd, and
waves both hands with a cheerful “Hello
everyone,” there is an appearance of
personality. That friendly, human-like
appearance, Honda officials believe,
will make the robot more acceptable
for service to humans.
Even the most human of machines still
move in a mechanical way, accompanied
by the noise of a motor. The answer to
quiet, human-like movement could lie in
electroactive polymers used as artificial
muscles. Electroactive polymers (EAPs)
are plastics that move in response to
electricity. They are the reason robotic
fish swam in a fluid, natural way when
they were displayed by EAMEX, of
Japan, at the International Society for
Optical Engineering 2003 EAP Actuators &
Devices (EAPAD) Conference.
And they are the reason the world may
be treated to an arm-wrestling match
that pits a robotic arm against a human
in 2005.
Ron Pelrine, program director of the
advanced transducer program at SRI
International, a leader in EAP development,
described EAP as a rubbery
polymer made in sheets. Electrodes, which must be able to stretch with the
material, are placed on each side of the
sheet. A voltage is applied across the
electrodes, causing the electrostatic
forces from the plus charges and minus
charges to squeeze the polymer, causing
it to stretch out, creating forces that
Pelrine called “pretty substantial.” With these materials beginning to
move out of the realm of experimental
and showing promise for practical
applications, interest is high from many
areas, including robotics, Pelrine said. “
There’s a lot of interest these days in
more life-like robots, and not necessarily
just from an aesthetic point of view,
although the entertainment industry is
certainly a big one for robotics, but
also in terms of the ability to move
over obstacles, the ability to move
quickly.”
This kind of progress is exactly what
Yoseph Bar-Cohen was hoping for when he proposed the arm-wrestling contest
in 1999. Bar-Cohen, a physicist and
senior research scientist at NASA’s Jet
Propulsion Laboratory in Pasadena,
California, and organizer of the first
EAPAD conference in 1999, decided
that competition is often a successful
means of stimulating R&D (see sidebar
on humanoid competition). So he posed
the challenge that requires the robotic
arm to be EAP-actuated. The response
came much quicker than expected.
“I thought 20, 30 years from now
someone would do it,” Bar-Cohen said. “It would probably be when I was retired
and I would watch from the side to see
how things develop. I didn’t realize that
five years later someone would come
and say ‘I can do it.’”
That “someone” is SRI. The only
obstacle to SRI’s participation is funding,
said Philip von Guggenberg, director of
business development.
“Technically, we can meet the challenge,” he said. And by 2005, not the 20
years or more Bar-Cohen expected.
Because the company is a non-profit
organization, it cannot cover the cost
of participating the contest on its own.
Von Guggenberg is hoping the contest
will award a monetary prize that will
compensate for the cost of participating.
Bar-Cohen is now considering how to
find sponsorship of such a prize.
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Figure 2. A doctor consults with her patient using a “Companion” robot. Photo courtesy of InTouch Health. |
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It’s low-tech, with no legs that
climb or artificial muscles for smooth
performance, but one robot is proving
successful as a substitute for humans.
InTouch Health, based in California,
developed robots that can be controlled
from remote locations through a broadband
and wireless network. Instead of a
head, the robot’s body is topped with a
video screen onto which the controller’s
face is projected (Figure 2). The robots
are controlled mainly by doctors who
can see their patients even when they
are not in the same building. Using
joysticks, the doctor can move the robot
around the patient. Using the zoom lens,
the doctor can visually examine the
patient. Using auditory transmissions,
the doctor can have a natural conversation
with the patient. The patient,
looking at the computer monitor, can
see the doctor speaking.
“What we’re all about is allowing
someone with some medical expertise,
who can be located anywhere in the
world, to extend their presence to any
other location where their knowledge
base is valuable,” said Tim Wright, vice
president of marketing for InTouch.
InTouch was established in 2002 to
develop a robot to fill the labor gap
in the health-care industry. Statistics
prove a current shortage of health-care workers will only grow greater with
the aging of the baby-boom generation
(birth dates 1943–1960 in the United
States). According to a May report by the
U.S. Department of Health and Human
Services, the demand for direct-care
workers will grow to 5.7–6.6 million
workers in 2050, an increase of 200 percent
and 242 percent, respectively, over
the current 3.8–4.6 million demand.
As of October, the InTouch robotic
doctors were in use in four United
States nursing homes and two hospitals.
The design may not have ASIMO’s
advanced technology, but neither does it
have that robot’s price tag. The medical
robots, called “Companion” devices,
lease for $3,000 a month.
The robots, made of aluminum, are slightly short by human standards, at
1.6 meters tall, and a little overweight,
at 98 kg. They have no arms or feet, but
move on three urethane balls that allow
them to roll easily in all directions. The
robots have sensors that alert them to the
presence of people and objects in their
vicinity. Wright said the company’s
technology teams are working on arms
now, so the robot could be capable of
such tasks as pushing wheelchairs or
opening elevator doors.
Research is continuing, Wright said,
not only into arm development, but
also into humanizing the shape. The
robot is now little more than a vertical,
rectangular box floating on a wide base.
The next versions will likely have more
of a waist and shoulders, a change based
on customer comments that they would
be more comfortable with a human-like
machine. “We’re looking for a look
that is professional and also friendly,”Wright said.
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Figure 3. NASA’s Robonaut could keep human astronauts out of harm’s way. Photo courtesy of NASA. |
Figure 4. Robonaut working with astronaut Nancy Currie to build an aluminum truss. Photo courtesy of NASA. |
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NASA, too, is exploring the benefits
of supplementing its workforce with
robots. The Robonaut, a humanoid
robot operated with a telepresence
control system, is considered a workable
candidate for space station repairs
(Figure 3). The robot is being developed
by the Robot Systems Technology
Branch at the Johnson Space Center in
cooperation with the Defense Advanced
Research Projects Agency. It consists
of a head, a torso, two arms, and
two five-fingered hands designed with
human-like dexterity. Robonauts, NASA reports, could work alongside humans
or in environments considered too risky
for people.
To ensure that the robot can withstand
the stresses of space, its endoskeleton
is made up of gold-anodized aluminum
alloy parts. The forearms and palms are
cast, due to their complexity, and then
machined to specified tolerances. The
torso of the robot contains the system’s
central processing unit, a large electronic
junction board, distributed power
converters, and numerous wires and
connectors. Those are protected by
the endoskeleton’s rigid carbon fiber
breastplate and backpack. Two types of
helmets are being tested: one of a resin
that is hardened in a sterolithography
process (as shown in Figure 3) and the
other made of sintered glass fibers.
The Robonaut design was tested this
summer in working with human teams
to assemble an aluminum truss structure
(Figure 4). Astronaut Nancy Currie, who
participated in the test, sees potential
benefits to working with Robonauts on
the International Space Station. “On the
station, you could send a Robonaut or two out early to set up the work site,
or leave them out late to clean up,” she
said. Normally two astronauts would
be doing those tasks. The Robonauts
are expected to be ready for work on
the space station in three or four years,
according to test conductor Robert
Ambrose.
Robots have been working for humans
for years, in one form or another. One
day, their purpose might simply be to
play with humans, or at least entertain
them.
In “Robbie,” a 1940 short story by
science-fiction writer Isaac Asimov, a
young girl named Gloria has a robot,
Robbie, programmed to be her caretaker.
Gloria’s love for that machine concerns
her parents. Their daughter does not
understand that this machine is just a
mechanized playmate, and that blending
of machine and human emotion is
unhealthy, her parents believe.
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Figure 5. QRIO robots by Sony were unveiled in October. Photo courtesy of Sony Corporation. |
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The story was set in 1998. In October
2003, Sony Corporation unveiled QRIO (Figure 5), a potential playmate for
modern-day Glorias. This humanoid
creation is described on the Sony web
site (sony.net/SonyInfo/QRIO/story/
index_nf.html) as “the product of
cutting edge artificial intelligence and
dynamics technology.” Satoshi Amagai,
president of the Sony Entertainment
Robot Company, even suggested in an
interview that the mission of QRIO is “to bring people emotional value.” “We
want to create something that’s fun to
be with, can be of help at times, even
something that one can talk to when
one is lonely,” Amagai said.
Like ASIMO, the robot is highly
mobile. Made of magnesium, it is
shorter than ASIMO (half a meter),
weighs less (7 kg), and has 36 degrees
of freedom. QRIO is capable of fluid
movement due to Honda’s Intelligent
Servo Actuator, an integrated actuating
system that controls the robot’s joints
and limbs, allowing instant reactions
to outside influences such as uneven
walking surfaces or a push on the robot’s
body. It is equipped with two cameras
in its head and can recognize faces.
Likewise, the robot has seven built-in
microphones for voice recognition.
Autonomous behavior control architecture
allows QRIO to react to its
environment as it moves, and Sony
claims, to display emotion based on
external influences.
At MIT, a professor has made it
her mission to instill the illusion of
emotion in robots. Cynthia Breazeal,
with a doctorate degree in electrical
engineering, is director of MIT’s Media
Lab Robotic Life Group. As her doctoral
thesis, she developed a robotic head she
called Kismet (recently retired to the
MIT robot museum) that was capable
of expressing a wide range of emotions
such as surprise, fear, and pleasure. As
shown on the cover of this issue, the
robot had lips, eyes, eyebrows, ears, and
a neck, all of which were programmed
to move in certain ways to express
emotion during human interaction. In
addition, Kismet could speak, but only gibberish, with appropriate inflections.“We can actually have the robot sound
angry when it’s angry, sound sad when
it’s sad, and so forth,” Breazeal said.
Breazeal has lately turned her attention
to high-level toy making. She is
working with the Hollywood special
effects company Stan Winston Studio on a furry creature called Leonardo.
Leonardo, like Kismet, is able to express
emotion, but it also has arms, a torso,
legs, and skin. The face is designed
with 32 degrees of freedom to allow for
minute, lifelike changes of expression.
The skin is designed with embedded
sensors that allow it to respond to touch.
Pet its ear and the ear twitches. Grab its
hand and it pulls back.
The sensitive skin, the emotional
eyes, the artificial concern all might one
day mimic humans too well. Bar-Cohen,
who in May co-authored a book with
Breazeal called Biologically Inspired
Intelligent Robots, said one area of
concern is how people would react to
a lifelike robot.
“When you look at some of the movies
and what the robots would do . . . we are
very uncomfortable because they could
beat us,” Bar-Cohen said. “Computers
are already beating us in capability now;
imagine if they all look like us.”
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Figure 6. Robotman Fred Barton and three of his re-creations: from left, B-9 from Lost in Space, Gort from The Day the Earth Stood Still, and Robby, from Forbidden Planet. Photo courtesy of Fred Barton Productions. |
Figure 7. Another humanoid favorite, C-3PO from Star Wars. ©Lucasfilm & TM. All rights reserved. |
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Fred Barton, also known as the Robotman, makes his living making robots (Figure 6). He built his first robot in high school—a full-sized replica of Robby, the robot from the classic 1956 science fiction movie Forbidden Planet. He went to college and attempted more conventional careers, but always dabbled in robots. Now, they are his livelihood, as he builds replicas of popular robots that sell for anywhere from $5,000 to $40,000. Who better, then, to help JOM compile a list of noteworthy robots of the large and small screen?
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