Comparision of HUMANOID feb 2011

TECHNICAL SPECIFICATION AND COMPARISION OF WORLDWIDE HUMANOIDS.

1 2 3 4 5 6 7 9 10 11 12 13 14 15 16 17 18 19 20 21 22

Pictures

Sr.no Details ASIMO ReemB Darwin 4 Vision 4G RIC H6 & H7 Lola Wabian2 HRP 3 Project Romeo Justin KHR 2 MYON ATOM HUBO MAHRU TOYOTA SONY HRP 4C AMIO PROMET Mk-II NAGARA-3 SMALL

1 Country Japan spain Virginia, USA Japan Japan Japan Germany Japan Japan France Germany Korea germany USA korea korea japan japan Japan Japan Jpan

2 Ht(cm) 130 147 56 45 120 150 180 150 160 1.40m NA 120 125 cm 5 ft 2 inc 125 cms 150cms 120cm 0.6 m 158 cm 150cm 160cm 110cm

3 Wt(kg) 54 60 3.6 3.2 7 57 55 64.5 65 NA 56 15 kg 160 lbs 45 kg 62 kg 35kg 43 kg 45kg 68kg 25kg,

4 Dimensions (W*B)

5 DOF Total 34 40 21 20 20 30 25 41 36 43 41 48 49 40 32 6 36 42 29

6 AIM Develop a helper robot Domestic robot Develop a cost-effective robot Research platform To commercialize research platform research platform Assist Handicapped people for research it’s a research robo robot was created as soccer

7 Application Industry studyrobo sport for robo sport research work research work research robo

8 Motor Futaba servos DC motors with harmonic drives Parker Bayside Motirs CCD camera (eye) dc servo motor and sensor has a highly complex motors 42 motors magnetic and optical encoder

9 Sensors Inertial Measurement Unit

10 Vision 2 video cameras for eyes stereo camera 33 Mpixel 60fps camera large eyes 2 CCD 5 cameras

11 Computing System portable onboard PC. real time operating system rtos ABB robot studio software AIBO Software

12 (a) 2.7 (b) 6 (a) 1.5 (a) 1.44 (a) 1.2 (a) 1.44 (a) 2.4 (a) 2 Only Upper Body Humanoid not experimented 1.5 km/h 1km/h

13 1986-2005 2005-2008 2004-current 2004-current 2000-current 2006-current 2006-current 2005-current 2009-2015 (trunk) 2010 2010

14 Rough Cost of Development 3.3 million USD 200000

15 1 million USD 0.12 milion USD 4.9 million euro 1 to 2 billion yen.

16 Battery Lithium battery (51.8V /6 kg) dual 7.4v , 2000 maAh .LiPos Ni MH battery pack Lithium Polymer lead acid batteries(12 V ,2 Ah) External Power Supply Lithium ion battery 48 V NiMH battery Ni- MH , 24 V , 8 AH 48V Ni-MH battery

17 Battery Life(Approx.) 100 min 120 min 60 to 120 minutes 30 minutes

18 Rankings (on a scale of 10 ) 8 8.5 6 6 6 8 6.5 7 8 not completed not a humanoid 8 8 7 7 7 7 8

19 Percentage Given out of 100

20 operating time 1 hr 120 min 30-40min 1 hr 45 min 120 minutes 30 min 120min. (continuous walk)

21 depth 44 410mm(chest)

22 width 45 693mm

23 recognition of moving object yes yes no yes no no no NO yes yes yes yes yes yes yes yes yes yes yes yes

24 yes no no no no no yes yes yes yes yes yes yes yes yes yes yes yes

25 enivronmental recognition yes no yes no yes no yes yes yes yes yes yes yes yes yes yes yes yes yes

26 distinguishing sound yes yes no no no no yes no yes yes yes

27 face recognition yes yes no no no no no no yes yes yes

28 internet connectivity yes no no no no no no no yes yes no

29 network integration yes no no no no no no no yes yes no

30 yes yes no yes yes yes yes yes yes yes yes yes

31 Correcting Its Own Position yes yes no yes yes yes yes yes yes yes

32 Identifying Obstacles yes yes yes no yes yes yes yes yes yes yes yes yes

33 Automatic Detour Function yes no yes yes yes yes yes

34 handeling a tray yes yes no no yes yes yes yes yes

35 walking with the tray yes yes no no yes yes yes

36 putting the tray on the table yes yes no no yes yes yes

37 handleing the cart yes no no

38 max load handeled 10 kg no no

39 quantity(2010) 100

40 company honda pal technology rick jsk univ aldebaran futurbot KAIST samsung electronics and kist sony AIST KAIST KAWADA INDUSTRIES

41 WEBLINKS www.toyoto robitics .com

42 material used sillicon and a mixture bom

7.3 kg

bredth of shoulder: 540mm chest:320mm

To achieve walking speed of 5 kmph

To deveop a human motion simulator

research platform for handed manipulation

Develop a reliable platform for humanoid research

designed for neurorobotics research

it will serve as a telepresence robo which will

solve real time problems

The android was able to speak and cover a wide range of natural facial

expressions

The walking model walks on two legs similar to a person, making it easy to become

accustomed to. It is able to use its hands to carry out a

wide variety of tasks

she's still thin enough to guilt teenage girls everywhere into puking up their lunches. And the manga-inspired face, with a tiny nose and large eyes,

should keep the plastic surgery market afloat in even

the most dire economic climate.

factory automation and the human welfare

research and development of platform

Developed for industry but not yet commercialized

humanoid robots, participating in the Network-

based Humanoid

exhibitions and fashion shows

New Energy and Industrial Technology Development

Organization (NEDO)

servo motors+ harmonic drive reducer+ control unit

servo motors with harmonic drive gear reduction system

Dynamixels -RX-28/64, EX 106

V-Stone servo motors, torque rating= 41kg cm

DC servo motors reduction mechanism- harmonic drive

gear

DC servo motors and harmonic drive gear

DC servo motor + harmonic drive reducer+drive unit

2 phase stepper dc servomotor with hard

drives .there are 15 motor

DC Servomotors with harmonic drives

it has 40 motors . They are dynamixel motors with

drives

12 DC motors and 13 servo motors.

Intelligent Servo Actuator (ISA) made it possible to build

a robot with compact body design that could move its

body smoothly and dynamically.

Head 2 axes (pitch and yaw) Arm 7 axes (shoulder: 3,

elbow: 1, wrist: 3) x 2 Hand 6 axes x 2

Waist 2 axes (pitch and yaw) Leg 6 axes x 2

6 axis force sensor, gyros, accelerometers

microphone, stereo camera,six axis force

sensors,accelerometer,gyro,ultrasonic sensor, laser

rangefinder

image sensors, gyros,accelerometers and

temperature sensors

6 axis force sensors, gyroscopesensors,tactile sensors.

6 axis force/ torque sensorsphoto sensor,

magnetic encoder,gyro sensor

gyros, force sensors, accelerometers

feedback sensor in hand for feeling temp four torque

sensor in arm

3 axis torque sensor,rate gyro andinclination sensor

35 torisonal springs and 192 sensor for various function

6-Axis Force Sensors 3-Axis Accelerometers

3-Axis GyrosUltrasonic range unitsStereo microphones

robot has been fitted with a wide variety of sensors,

namely a 3-axis force/torque sensor which measures a

normal force and 2 moments, a gyration sensor, a body inclination sensor, as well as inclination sensors in

both of its feet. robot has been fitted with a

wide variety of sensors, namely a 3-axis force/torque

sensor which measures a normal force and 2

moments, a gyration sensor, a body inclination sensor, as well as inclination sensors in

both of its feet.

it has sensor for motion control; a stereo camera, a

pose sensor, and 4 force/torque sensors for

sensing;

attitude sensor that detects a tilt of a robot.gyroscopic

sensors for stability

multisensory-motor,If pushed by someone, QRIO will take a

step in the direction it was pushed to keep from falling over. The control system senses that it has been

pushed through the pressure sensors in the soles of its feet and its position sensors, and acts to maintain stability. It can detect an outside force acting on it from front, back,

right or left. When QRIO determines that its actions will

not prevent a fall, it instinctively sticks out its

arms, swivels its hips, and assumes an impact position. At the same time, the control

system instantaneously commands the servos in the

joint actuators to relax slightly. In this way it lessens the shock of the fall, enabling

it to survive unscathed.

8 inclination sensors throughout his body,4 FSRs (force sensing resistors) per foot to locate the ZMP (zero

moment point), in chest 1axis inclination sensor,

laser range sensors,3-lens stereo camera system for

autonomous control2-lens stereo camera for

remote controlScanning range finder

VT cam system with dual HDR cameras

high resolution stereo camera module with IEEE1394 interface

multi-focal vision system with 4 cameras and 6 DOF

5 cameras inside head along with laser range

sensors

2 cameras for 3d image stereoscopic vision

3-axis Force/Torque sensor (wrist

it has a single lense unlike human .it has sterioscopic vision for depth perception

Stereo color Vision with Depth Perception

ViewPort now supports computer vision using OpenCV, fuzzy logic,

physics simulation

robotic research projects of MIC, with the ultimate goal of

Using twin CCD (charge coupled device) cameras, it

can also recognize and identify faces. Equipped with

seven microphones and a speaker, Qrio is able to

identify voices, talk, sing, and understand about 20,000 words. It can also exhibit some limited emotional

responses, according to Sony

Core 2 duo (1.66 Ghz) Geode (500 Mhz)

Gumstix Verdex Pro XL6P *2Blackfin dual core BF561 *2

Main controller CPU- GeodeLX 800, 500 Mhz Sub controller-

LPC2148FBD64

onboard PC with dual Pentium 3 (750 MHz)processors

PC platform(core 2 duo mobile 2.33 ghz)

PC with a 1.26 Ghz processor.OS- QNS neutrino

version 6.3

centralised processorCPU type -SH 4 clock -240

MhzOS

RD concept (agile robot development)

Robot Operating System (ROS)

ITX Intel Atom 330 - 1.6 Ghz

ITX Intel Atom 230 - 1.6 Ghz

VIA Nano 1 Ghz

Speed a. Walking b. Running(kmph)

0~2km/h.

Time Taken to Develop the Robot in yrs

Manufacturing Cost/Selling Price

rechargeable Ni- MH battery pack

Boston-Power's Swing Battery

24 volt Li-ion polymer batterys

with Solar recharge backup

t carries a lithium polymer battery with a 480 watt-hour

capacity, …

lithium polymer battery, 48V-20A

2kg 3kWh battery included), power consumption 0.4kW, 7 hours of operation. …it has

solar charger in it

QRIO draws on twelve high voltage, high capacity, and high energy density battery

cells that utilize Sony's proprietary lithium ion battery technology to run for over an

hour at a time.

recognition of posture and gestures

automised continous movement

RobotCub Consortium.

TeamOSAKA (ROBO GARAGE, VSTONE, Intelligent Robotics Laboratory (directed

by Prof. Hiroshi Ishiguro), systecakazawa, ATR),team

osaka

Technovelgy LLC Neurorobotics Research Laboratory

http://world.honda.com/ASIMO/ gizmodo.com/.../reem-b- www.romela.org/.../DARwIn www.ric.org/c www.jsk.t.u-tokyo.ac.jp/research/h6/ www.ubergizmo.com/.../lola_robotwww.takanishi.mech.waseda.ac.jp/top/.../wabian/index.htm

global.kawada.jp/mechatronics/hrp2. www.projetromeo.com

www.engadget.com/.../justin-humanoid-robot

www.robotadvice.com/kondo-khr-2_robot www.armedrobots.com/modular-myon-robot http://www.futurebots.com http://www.robotadvice.com/sony-qrio_robot.htmlhttp://en.wikipedia.org/wiki/HRP-4Chttp://mind.kaist.ac.kr/index.phphttp://global.kawada.jp/mechatronics/hrp3.htmlhttp://www.com.rd.pref.gifu.jp/~imit/research_nagara.php, http://www.plasticpals.com/?p=2415

Lightweightmaterials, like a magnesium alloy structure

strong, lightweight composite materials

Its material is magnesium alloy, since the specific gravity of magnesium alloy is 68 [%]

IEC IP52. “Circular Spline for dust moisture proof

reference, the IP (Ingress Protection) protection

classification system is produced in IEC

(InternationalElectrotechnical

Commission) publication 529, which

provides a means of specifying an enclosure on

the basis ofdegree of protection. It does

not provide for protectionagainst mechanical damage

caused by or within a device.

For notation, the letters IP are followed by two

numbers.

advanced polycarbonate materials

AluminumTitanium

Kevlar - FiberglassPlastic

The head part uses a material known as 'Frubber

Neodymim-Iron-Boron magnetic particles

suspended in a polyurethane matrix

Lightweight materials, like a magnesium alloy structure

http://world.honda.com/ASIMO/

http://www.romela.org/.../DARwIn

http://www.armedrobots.com/modular-myon-robot

http://www.futurebots.com/

http://www.robotadvice.com/sony-qrio_robot.html

http://en.wikipedia.org/wiki/HRP-4C

http://mind.kaist.ac.kr/index.php

http://global.kawada.jp/mechatronics/hrp3.html

http://www.com.rd.pref.gifu.jp/~imit/research_nagara.php

43 battery lifetime 4 hour charge , 1 hour usage lithium ion battery ni mh acid battery (12V, 2.0Ah, 0.85kg) external source built-in rechargeable battery.

44 battery features it will be charged for 2 hr Li-Pol battery DC 30V, 11 AH

45 additional tech used face recog pattern recog war robo it can be satellite repairing it can play musical instrument

46 programing used c++ with v.b net robomovie makers botnet software Windows XP and RTX

47 additional features it can climb stairs it has telespectroscopy

48 partners honda pal electronics ICAT

49 mechnacical structure

50 Each hand weight lifting 51 Carrying weight no yes

52 yes

53 Falling recovery mechniasm

54 balancing on one leg55 bending on knee yes56 Bending & picking up ball yes yes57 Kicking

WABIAN-2R can switch smoothly between the external

power supply and the batteries, to realize effective

experiments as a human motion simulator.

Furthermore, WABIAN-2R can charge the batteries when

operating with the external power supply.

operation time of battery is 120 min when fully charged

ASIMO's 51.8v lithium ion (Li-ION) battery backpack can

operate for an hour on a a four hour charge

8 battery packs Ni-Zn 135 V / 6 Ah .

s capable of face recognition, speech

interaction, biped walking, traversing stairs, and sitting

As the technology and algorithms for real-time 3D vision and tactile sensing im- ... motion for the H6

robot to reach a target object beneath an obstacle. ... The humanoid robots H6 and H7 were used as platforms for research

LOLA has a modular, multi-sensory joint design with brushless motors.

Moreover, the previously purely central electronics architecture is

replaced by a network of decentral joint controllers, sensor data

acquisition and filtering units and a central PC. The fusion of motor, gear and sensors into a highly integrated mechatronic joint

module has several advantages for the whole system, including high

power density, good dynamic performance and reliability. Ad- ditional degrees of freedom are introduced in elbow, waist and

toes. Linear actuators are used for the knee joints to achieve a better

mass distribution in the legs.

it can be used in heavy industries .. It can perform

drilling etc

Myon robot to teach us about language origination

is being built to take on a variety of dangerous jobs like building structures in

outer space, rescuing people from burning

buildings and assisting victims in the aftermath of a

natural disaster. Mathias thinks the robot will also serve as a helper and companion in nursing

homes.

Albert HUBO, the latest humanoid version of the HUBO robots, can make

expressive gestures with its 5 separate fingers. Its first robot in world to get facial

expression

it’s a maid robo … can put dirty cloth in washing

machine

capable of recognizing ambient sounds and, by

using the vocal synthesizer Vocaloid, can sing, HRP-4C to mimic human facial and

head movements as well as execute dance steps,

resulting in the most human-like performance yet at

Tokyo's Digital Content Expo in 2010.[4][5] The HRP-4C is considered to be a gynoid.

Amio’s speech and vision recognition software allow him to guess a person’s

emotional state, but his fully anthropomorphic shape is more ideal for human-robot

interactions.

It has 5 cameras inside its head, along with its laser

range sensors, The development of the smooth

gait generation and slip detection technologies were realised for the low-friction

surface walk, further upgrading of the mobile

function. AIST-developed “generalized ZMP”

technology allows for more sophisticated whole body

movement.

will be able ... enciphering and digitalizing of human emotions

in the programming of human ...

Windows 7 embedded, Windows XP embedded

One of the key features of REEM-B is its strength. It

can lift and transport heavy objects up to 20- 25% of its

own weight.

used in sport purpose as a goal keeper

H6 and H7 can walk up and down 25 [cm] high steps and can also recognize pre-entered human

faces

they are modular in nature so can work with limbs cut

they follow a s shape walking

The strength of the software has been proven in several

experiments, where the robot chose an appropriate

conversation topic and behaved appropriately in

response to human emotions.They could ask you what you are angry about and then make a joke to console

you or make you laugh.

Dust and splash-proof functions for the joint axes

and electric devices, such as the gear box unit and the

drive unit. Multi-finger hands for realisation of more

sophisticated hand coordination works. Improved cooling systems for the heat generated inside the robot

body.

Nagara3 is able to detect human motion by the relative

positions of the head and hands and copy the

movements with its own arms.

National Institute of Advanced Industrial Science

and Technology,

The external appearances of HRP-2 and HRP-3 were

designed by Yutaka Izubuchi

His skin is made out of Bayer makrolon and a layer of glass fiber-stabilized polycarbonate

to protect him.

stability during pushing while walking

Sr.no Details AR (Assistant Robot) ARMAR-III

1 2

Pictures

General

1 Country South Korea, Japan Germany

2 AIM

3 Application Industry

to tackle the problems of Japan’s declining birthrate and aging population.

Learning and Cooperating Multimodal Robots

Assistant Robot, Currently the robot is being programmed to perform cleaning duties

central component for planning and execution of grasping motions

General

4 Vision

5

6

7 Rough Cost of Development

8 retailing for approximately $10,000 USD each

9 Rankings (on a scale of 10 )


11 company

12 partners

13 WEBLINKS

five cameras 2 wide-angle stereo cameras, 2 telescopic cameras, and 1 omnidirectional

camera

2 cameras per eye (for near and far vision).




IRT (Information & Robotic Technology Research Institute)

Collaborative Research Center 588,University of Karlsruhe

Toyota, Olympus, SEGA, Toppan, Fujitsu, Panasonic and Mitsubishi,Fujitsu providing state

of the art computer vision software.Toyota producing many of the mechanical

components

http://www.plasticpals.com/?p=2727 http://his.anthropomatik.kit.edu/english/index.php; http://www.plasticpals.com/?p=25861

http://www.plasticpals.com/?p=2727

http://his.anthropomatik.kit.edu/english/index.php

General

14 video website http://www.plasticpals.com/?p=2727

Mechanical

15 Ht(cm) 155cm

16 Wt(kg) 130kg

17 Dimensions (W*B)

18 DOF Total 32 43

19 Motor

20 depth

21 width

22 max load handeled

23 material used

Dishwasher opening (http://spectrum.ieee.org/robotics/artificia

l-intelligence/a-robots-body-of-knowledge)

Mechanical

24 mechnacical structureToyota producing many of the mechanical

components

ARMAR IIIa: The upper-body has a modular design based on the

average dimensions of a person, with 14 tactile sensors per hand. Like the

previous versions, it moves on a mobile platform. Robot use the

Karlsruhe Humanoid Head, which has 2 cameras per eye (for near and far vision. The head has a total of 7 degrees of freedom (neck x4, eyes

x3), 6 microphones, and a 6D inertial sensor.

Mechanical

25 hands

26 head

2 arms-3 fingers each. Arms can be moved in 7 directions and fingers in two.

For ARMAR IIIa, force sensors,14 tactile sensors per hand

A total of five cameras adorn its head (2 wide-angle stereo cameras, 2 telescopic cameras, and 1

omnidirectional camera)

Robot use the Karlsruhe Humanoid Head, which has 2 cameras per eye (for near

and far vision. The head has a total of 7 degrees of freedom (neck x4, eyes x3), 6 microphones, and a 6D inertial sensor.

Mechanical

27 body

28 additional features

a laser range finder and ultrasonic sensors located near its base provide obstacle detection. It moves on a

combination of 6 wheels, and has a current battery life of approximately 30 minutes to 1 hour. a

combination of laser range finder and stereo image data allow it to recognize features in its environment,

such as furniture, tools, and laundry.

The upper-body has a modular design based on the average dimensions of a

person, with 14 tactile sensors per hand.

Three main features distinguish the AR. 1) a combination of laser range finder and stereo

image data allow it to recognize features in its environment, such as furniture, tools, and

laundry. 2) It has SLAM (simultaneous localization and mapping) paired with a three-

dimensional virtual model of itself and surroundings which is constantly updated to

include data such as where a particular item is stored, or where a person is. 3) It has robust

failure detection capabilities to ensure it gets the job done, if at first it does not succeed.

Mechanical

29 Mechanical Toyota produces many of the mechanical components; 6 wheels,;DOF-Arms 7,fingers 2

upper-body has a modular design based on the average dimensions of

a person; Head has a total of 7 degrees of freedom (neck x4, eyes

x3)

30 additional tech used moves on a combination of 6 wheels

Electronics part

31 Sensors

robot’s tasks can be broken down into three components:

understanding verbal commands, creating representations of objects

and actions, and using these to work out how to carry out the command. Capable of forming representations

of objects that worked at the sensory level and combining that with planning and two-way verbal

communication.

laser range finder and ultrasonic sensors located near its base provide obstacle detection.

force sensors,14 tactile sensors per hand

Electronics part32 sensors

33 Electronics

Software

34 programing used

35 Computing System

A total of five cameras adorn its head (2 wide-angle stereo cameras, 2 telescopic cameras, and 1

omnidirectional camera) and a laser range finder and ultrasonic sensors located near its base provide

obstacle detection.

Fujitsu providing state of the art computer vision software.

Software

36 Software

Battery

37 Battery

38Battery Life(Approx.)

Can be operated for 30-60 min with 1 charge

39 30 minutes to 1 hour

40 battery features

41 recognition of moving object yes

Fujitsu providing state of the art computer vision software.

Using PACO-PLUS (Perception, Action, and Cognition through learning of

Object-Action Complexes), the researchers have tried a new approach to embodied cognition that couples objects with the actions that can be performed

with them. Object-Action Complexes or OACs, a system of object recognition and classification, not only allow the robot to build a kind of understanding of objects;

Motion trajectory, grasping, and manipulation planning, both in

simulation and in a realistic kitchen setting, is being carried out with

ARMAR-III.; simulation of the robot’s hand on Open Grasp software tests the

various ways it can firmly hold 3D models of standard household objects.

Functional Description

42 yes

43 enivronmental recognition yes

44 distinguishing sound

45 face recognition yes

46 internet connectivity

47 network integration

48

49 Correcting Its Own Position

50 Identifying Obstacles yes

51 Automatic Detour Function

52 handeling a tray yes

53 walking with the tray yes

54 putting the tray on the table yes

55 handleing the cart yes

56 Each hand weight lifting

57 wheeled robot

58 Falling recovery mechniasm wheeled robot

59 balancing on one leg NA NA60 bending on knee wheeled robot mobile platform61 Bending & picking up ball wheeled robot

62 Other

63

Functional Description




financial backing from Toyota, Olympus, SEGA, Toppan, Fujitsu, Panasonic and Mitsubishi.

tries to learn not just from previously stored instructions or massive processing

power but also from reaching out and touching things.

64

65

66

67

Using a motion-capture set-up, the robot is also learning to recognize how a

person moves and manipulates objects by tracking and analyzing key points on the human body (such as joint positions) as

the person performs a task.

68

PR 2 HIRO

3 4 5

Tokyo, Japan USA JAPAN

symbiotic robots

research and development ,

TWENDY-ONE

Research & Innovation-Development of ROS based applications

The development of human symbiotic robots that can support human daily activities is greatly

expected to be a measure against labor shortages in aging societies

Currently being used for research by universities

enables users to carry out practical robotics research activities.

Two CCD cameras surrounded by LEDs

1m/s

more than 4 years

$400,000

Willow Garage KAWADA INDUSTRIES,AIST

http://twendyone.com/index_e.html

pan-tilt head contains wide and narrow stereo cameras, a 5-megapixel camera, a

texture projector and a Hokuyo laser range-finder.

HIRO’s arms can move around at a speed of approximately by

700mm/second

Full specification JPY 7,400,000- (tax not included)

Basic specification JPY 5,400,000- (tax not included)

www.willowgarage.com/pages/pr2/overview http://global.kawada.jp/mechatronics/hiro.html

http://www.willowgarage.com/pages/pr2/overview

http://global.kawada.jp/mechatronics/hiro.html

1467mm(146.7cm) 1.33-1.645m157cm

111Kg Approx.200kg 85kg (Robot body: 20kg)

Base Width & Depth :: 668 mm

47 + Omni Directional Mobility Arm-4,Wrist-3,Gripper-115 axes

43 (12 in base,7 in each arm,2 in the head)

500mm

500mm

Arm Payload :: 1.8 Kg (4 lbs) 2kg

http://global.kawada.jp/mechatronics/hiro.html

500mm

TWENDY-ONE equips high output actuators with the simple mechanical passive impedance

mechanism.

Head 2 axes (pitch and yaw) Arm 6 axes (shoulder: 2, elbow: 1,

wrist: 3) x 2 Waist 1 axis (yaw)

outer shell is designed to cover all the wire harnesses and it also has the function of shock

absorption. made of silicone

Attire: dedicated robot suitFrame structure: aluminium alloy

cast metal

13 small-sized high-power actuators are installed in total in hand,m passive compliance mechanism

is introduced to the finger joint

13 small-sized high-power actuators are installed in total in hand,m passive compliance mechanism is

introduced to the finger joint; The shoulder and elbow part of TWENDY-ONE arm has four degrees of

freedom with small and light weight passive impedance adjusting mechanism. This passivity has also advantage

in the case that the robot works together with human. The robot can follow human motion easily and avoid

applying an unexpected force to human. On the surface of the whole arm of TWENDY-ONE, the distributed

force sensors are installed. It enable the robot to realize holding human and a heavy object under the whole

contact of the arm

HIRO’s arms can move around at a speed of approximately by

700mm/second The payload for holding a certain object is, at

maximum, 2kg (including the end effectors). Arm 6 axes (shoulder: 2, elbow: 1, wrist: 3) x 2 . Each arm is

able to exert an operation force of approximately 100N (10kg). 2 cameras in the hand and 2 voice output speakers

in the hand.

The head part of TWENDY-ONE has three degrees of freedom: Roll, Pitch and Tilt. Tilting the head to one

side is an effective motion to express a kind of intention such as question or not-understanding. Two CCD cameras surrounded by LEDs, a speaker, and a six-axis force sensor are installed on the head part.

Head 2 axes (pitch and yaw). Environment recognition device (head

camera x 2)

outer shell is designed to cover all the wire harnesses and it also has the function of shock absorption. an

omni-directional mobile mechanism is introduced to TWENDY-ONE. This mechanism enables the robot to

easily follow and adapt to external and involuntary force applied from human.

Waist 1 axis (yaw). Attire: dedicated robot suit Frame structure:aluminium

alloy cast metal

The special feature of TWENDY-ONE is the combination function of the dexterity with passivity

and the high-power output.

13 small-sized high output actuators with the simple mechanical passive impedance mechanism;The arm has seven degrees of freedom with one redundancy and the four-finger-hand has thirteen degrees of freedom in total to manipulate an object dexterously. As the mobility is an important rule of the service application, an omni-directional mobile mechanism is introduced to TWENDY-ONE. This mechanism enables the robot to easily follow and adapt to external and involuntary force applied from human. The trunk of WENDY-ONE has four degrees of freedom so that the hand can reach the floor to pick up an object and to wipe off the floor;The high power actuators are installed into the joints to pick up a heavy object on the floor and to support the human body.

force sensors

an omni-directional mobile mechanism is introduced to TWENDY-ONE. This mechanism enables the robot to easily follow and adapt to

external and involuntary force applied from human.

Backdrivable arms,spring counterbalance,gripper,telescoping

spine,omnidirectional base,autonomously navigation, locate power outlets, and plug

itself in.

Voice output (speaker),Hand (4 axes) x 2

Voice input (microphone x 2)Environment recognition device

(head camera x 2, hand camera x 2)

Information process and recognition computer

Robot pedestal, others

Rotating 3D laser,Base laser scanner,stereo cameras,accelerometer,texture projector

ROS

Two CCD cameras surrounded by LEDs; mobile mechanism equips twelve ultrasonic sensors and a six-axis force sensor to detect objects and humans near the robot to keep safety.; illumination of the LEDs in head

indicate condition of vision

Voice input (microphone x 2) Environment recognition device (head camera x 2, hand camera x 2)

LEDs at the chest part display the internal condition of the robot by changing the illuminations.

2 Quad Core i7, 24GB RAM, 500GB internal HD, 1.5TB Removable HD

Serial port (RS232C) x 1LAN port (100 base-T) x 1,

others,OpenHRP3 (OS: Windows XP) + Jython

Other Applications JAVA, C++, Python and others (library for various languages installed)

1.3 kWh Lion Battery Pack

runtime 2 hrs

runtime 2 hrs

yes yes yes

Image processing, voice recognition/synthesis, environment recognition; control software was developed in collaboration with

General Robotix, Inc. (GRX): “Open HRP3 (Open-architecture Human-centred Robotics Platform version 3)” for simulation software. The simulation software possesses a feature which enables research and development engineers to

operate it easily; QNX™ operating system; JAVA, C++, Python and

others (library for various languages installed)

4 x smart charge controllers + 16 x Li-Ion batteries + 4 x power supplies from Ocean

Server, Power Control Board

yes no yes

yes yes yes

yes no yes

yes No

yes yes

yes

yes

no

yes yes

yes yes

yes yes

yes yes

yes yes

1.8 Kg (4 lbs) 100N (10kg).

4 wheeled base

NA NAwheeled robot wheels

yes

Information process and recognition computer

REEM H2 SeRoPi SmartPal 5 TUBO

6 7 8 9

Spain Korea Japan korea

Service Robot

service robot

commercialrobot

non-manufacturing industry,by promoting the

development of service robots intended for non-

manufacturing industry and reducing the work load and

operational costs using these robots.

household assistant.

In a wide spectrum of public spaces

service robot ,semi-humanoid robot

stereo cameras CCD camera stereo cameras

5 Km/h2m/s 3.6 kilometers per hour

pal technology Korea Institue of Industrial Technology,DART

pal electroinics

YASKAWA ELECTRIC CORPORATION

Tongmyong University’s Department of Robot System Engineering (South Korea)

http://www.pal-robotics.com/robots http://en.wikipedia.org/wiki/Seropi http://www.plasticpals.com/?p=14342http://www.plasticpals.com/?p=20902

http://www.pal-robotics.com/robots

http://en.wikipedia.org/wiki/Seropi



125cm 1325 mm

90 kg (198 pounds) 60kg

450x1250x450mm (WHD)

25

1,65 m

22

Among other improvements are a streamlined body

thanks to its smaller servos (roughly 1/2 the volume)

transport objects of up to 30 kg (66 pounds),additional weight 3

kg per each arm

1kg

familiar capabilitiesThe robot’s modular arms feature KITECH’s own

proprietary actuators

With 7 joints, having one additional arm compared to

general industrial robots, flexible operations similar to

human arms are produced. A one-joint gripper or a multi-

fingered hand consisting of 3 fingers and 9 joints can be

mounted.

Large working (including the ground) area by using diverse and multiple joints like waist and knee. The

robot’s modular arms feature KITECH’s own proprietary actuators. Payload of 1kg

With 7 joints, having one additional arm compared to

general industrial robots, flexible operations similar to human

arms are produced. A one-joint gripper or a multi-fingered hand

consisting of 3 fingers and 9 joints can be mounted. having

one additional arm compared to general industrial robots

touch screen on its chest

Balance control by using the whole body coordination and the four load-cell sensors at the bottom of the mobility. automatic charging utility in its base for convenient recharging. Fast movement using four

wheel mobility instead of biped walking

a new joint in the waist which allows it to bend over to pick up objects from the floor or simply

reach ahead. moves in any direction on three wheels.

Among other improvements are a streamlined body thanks to its smaller servos (roughly 1/2 the

volume)

It uses a combination of pre-programmed maps, a laser range finder in its base, and ceiling

cameras to self-localize

having one additional arm compared to general

industrial robots

TUBO has familiar capabilities: stereo cameras

for face recognition; character recognition (reading); Korean

speech recognition and synthesis; and SLAM. It

moves on two wheels and has two manipulators. A few images follow after the break.

Three DOFs (Degree Of Freedom) of the neck, three DOFs of the waist, six DOFs of the two arms, and one DOF of the knee. Because of

these joint structures, SEROPI can flexibly grip an object on a table or floor with the three fingers

and transfer the object to some place. It can also keep a balance itself and move as a quick human

walking; modular arms feature KITECH’s own proprietary actuators

streamlined body thanks to its smaller servos (roughly

1/2 the volume); three wheels and has two 7 DOF

arms with a variety of optional grippers allowing it

to manipulate objects;A wheel mechanism which can

move inside the building freely. With a three-axis

wheel, free movement in all directions including not only front-back and turning but

also sideways and diagonal is possible; A joint mechanism

which is added newly to enable the bending of the

waist area

autonomous navigation system, its user-friendly touch-screen,

and its voice and face recognition system, REEM-H2 can help or entertain people in most public

environments.

1) Prevention of collision with men or objects by using 3-dimensional space perception sensors 2) Large working (including the ground) area by using diverse and multiple joints like waist and knee 3) Balance control by using the whole body coordination and the four load-cell sensors at the bottom of the mobility 4) Fast movement using four wheel mobility instead of biped walking 5) Diverse human-robot interactions by using voice, object recognition, face recognition, conversation, handshaking, etc.

a new joint in the waist which allows it to bend over to pick up objects from the floor or

simply reach ahead

The university is using it to research HRI (human-robot

interaction) with plans to develop a household

assistant.

Microphone, stereo-camera, laser, ultrasounds,

accelerometers and gyroscopes

IR sensors, Scanning laser range finder, Force sensor, Force/Torque sensor, stereo vision, INS

CCD Camera

Core 2 Duo + ATOM

IR sensors, Scanning laser range finder, Force sensor, Force/Torque sensor, stereo vision, INS . stereo

cameras . Prevention of collision with men or objects by using 3-dimensional space perception sensors. It uses a combination of pre-programmed maps, a laser range finder in its base, and ceiling cameras to self-

localize

TUBO has familiar capabilities: stereo cameras for face recognition; character

recognition (reading); Korean speech recognition and

synthesis; and SLAM. It moves on two wheels and has two

manipulators.

Three-layered software architecture, which can provides flexibility, maintainability, reusability, and scalability, is used when an effective robot software design is needed. The HAL (Hardware

Abstract Layer) provides relatively a uniform abstraction for aggregates of underlying

hardware such that the underlying robotic hardware is transparent to the robot control software. This robot control software can be written in a hardware independent manner.

lithium battery

8 hours

8 Hours

yes yes yes yes

Three-layered software architecture, which can provides flexibility, maintainability, reusability, and scalability, is used when an effective robot software design is needed. The HAL (Hardware

Abstract Layer) provides relatively a uniform abstraction for aggregates of underlying

hardware such that the underlying robotic hardware is transparent to the robot control software. This robot control software can be

written in a hardware independent manner; 3-dimensional space perception, voice, object

recognition, face recognition, etc.

Speech recognition and synthesis software allow the

robot to carry on a simple conversation; environment recognition; Two or more SmartPals can operate in

cooperation with each other by using a radio

communication network

face recognition; character recognition (reading); Korean

speech recognition

operating time of 2.5 hours per charge.

automatic charging utility in its base for convenient recharging.

yes yes yes yes

yes yes yes yes

yes yes yes yes

yes yes yes yes

yes no NO

no no NO

yes wheeled robot

yes

yes yes yes NO

no

yes yes yes yes

yes yes yes yes

yes yes yes yes

yes

3kg

stable platform wheeled robot yes

cant fall wheeled structure wheeled robot NA

NA NA wheeled robot NAwheels yes wheeled robot NA

yes yes NA

moves in any direction on three wheels

Fast movement using four wheel mobility instead of biped walking

T- ROT Tiro FURO PHOPE RobovieR3

10 11 12 13 14

South Korean Korea South Korea South Korea Japan

Commercial robot Guiding to people

service robot restaurant service robot

robots serving society. communication / service robot guide

ushers and performers at the wedding

guide visitors around structured environments

the elderly in public places such as shopping malls, and

subway stations.

2 USB cameras

max 0.6m/s 0.5m/s normal, 1m/s max

$215,000

(KIST CIR) Hanool Robotics Corp. ATR and VSTONE

ATR and VSTONE

a woman’s head has been transplanted onto a robot’s

body in the form of LCD screen

3,990,000 JPY ($43,000 USD) including taxes

South Korean robotics company

Pohang Institute of Intelligent Robotics (PIRO)

http://www.plasticpals.com/?p=2506http://www.ijdesign.org/ojs/index.php/IJDesign/article/view/578/286http://www.plasticpals.com/?p=23555http://www.plasticpals.com/?p=18270


http://www.ijdesign.org/ojs/index.php/IJDesign/article/view/578/286



1,5 m 130cm 1,6 m 108cm

70kg 75 kg 35kg

17

drive motor(driver/AMP) 2 mono microphones for ears

0.6m

60cm

100g

Two-differential-wheel mobile base, two 7-DOF

manipulators, two 3-fingered hands, 2-DOF pan-tilt head,

speech unit, battery and several sensors

With its ridiculous, globe-light appendages and bright LED

smile, Tiro will be upgraded to serve other more practical

functions

unsettling impression that a woman’s head has been

transplanted onto a robot’s body. It has a variety of

sensors which are used to detect when a person

approaches and for obstacle avoidance.

Designed primarily for taking orders with a smile, it comes

with a large adjustable touchscreen, which allows

customers to choose from the restaurant’s menu, and

payment can be handled on the spot by swiping your

credit card.

To guide the people. Recognise the faces of the people. Speech synthesys.

2 mono microphones for ears, a speaker for a mouth, and

can be equipped with a laser range finder in its base for

obstacle detection. It will also communicate with a local

network which includes other robots, cameras, and mobile

phone services.

two 3-fingered hands

2-DOF pan-tilt head

a woman’s head has been transplanted onto a robot’s body

in the form of LCD screen. Designed primarily for taking orders with a smile, it comes

with a large adjustable touchscreen, which allows

customers to choose from the restaurant’s menu, and payment can be handled on the spot by swiping your credit card. POS

system

Two-differential-wheel mobile base, two 7-DOF manipulators, two 3-fingered hands, 2-DOF

pan-tilt head, speech unit, battery and several sensors. 4 Single

Board Computers (SBCs)

T-Rot gets around on wheels, using infra-red and laser

range finder sensors to avoid bumping into things. ,it can

plan tasks and execute behaviors such as navigation

or manipulation.

Tiro speaks in a sweet, feminine voice in Korean, Japanese, Chinese, and

English. The robot’s shape was based on a beautiful

maiden in traditional Korean dress.

If too many people try to order at once, the robot gets visibly flustered and shakes

its head. Other possible applications include guiding

people in shopping malls and air ports.

The robot was designed to guide visitors around

structured environments, such as buildings, so it has

face and speech recognition as well as speech synthesis

It will also communicate with a local network which includes other robots,

cameras, and mobile phone services, This is a robot that

is supposed to make life easier for older people and

for those that have a handicap.

pressure sensitive grip

motion controller (4 axes), High capacity battery, Drive

Motor (Driver/AMP), Payload: 100kg,

hand(flickering), 10.3" TFT LCD/ Slide cover, bumper,

arm length: 50cm, robot arm dof:3, ht: 130cm, wt: 70kgs ,

capacity to hurdle: 3cm

FURO has a disjointed design and consists of several

different sensors which are capable of detecting and

avoiding any obstacle. FURO is designed for taking orders and it holds a touchscreen that displays the items to

choose from. Payments can even be made on the spot by

swiping your credit card. Material used: extra super

duralumin2. acrylonitrile-butadiene-

styrene resin

Robovie R3 is built of plastic over an aluminum frame. It stands about 108cm (3 6″) ′

tall and weighs 35kg (77 pounds). It is equipped with

15 servomotors which enable it to perform 13 degrees of

freedom (neck x3, 2 arms x4, 2 omnidirectional wheels) with bonus 4 degrees of freedom from its eyes.

11 tactile sensors

The robot has object, face, speech and gesture

recognition capabilities enabling it to react to a person’s commands.

Additionally, a facial expression design using

LEDs was designed to help children to perceive the

emotion

capable of expressing attractive human emotions

it has face and speech recognition as well as speech synthesis, which allows it to remember specific people.

It will also communicate with a local network which includes other robots,

cameras, and mobile phone services.

laser range finder, infrared ray, sonar, encoder, camera,

microphone

sensor control I/O board, ultrasonic sensors 16 pairs

It has a variety of sensors which are used to detect

when a person approaches and for obstacle avoidance.

laser range finder, infrared ray, sonar, encoder, camera,

microphone. T-Rot gets around on wheels, using infra-red and laser range finder sensors to

avoid bumping into things. ,it can plan tasks and execute

behaviors such as navigation or manipulation.

sensor control I/O board, ultrasonic sensors 16 pairs

It has a variety of sensors which are used to detect when a person

approaches and for obstacle avoidance.

it has face and speech recognition as well as speech synthesis, which allows it to

remember specific people. The robot was designed to guide

visitors around structured environments, such as buildings,

so it has face and speech recognition as well as speech

synthesis

11 tactile sensors. 2 USB cameras.

ultra-sonic sensors(16 pairs), camera(user recognition),

camera(localization), wireless LAN AV transmitter, Sensor

Control I/O board, Mainboard

The morph3 is equipped with a wide variety of electrical components, including a

main CPU module capable of high-speed floating-point

arithmetic, a powerful graphic processing module,

and several satellite CPU units driving joint actuators.

In addition to these computing modules,

numerous sensors (138 internal and external sensors)

are space-effectively distributed on the body and

connected via on-body computer networks.

It has 11 tactile sensors throughout its body. Robovie

R3 is equipped with 2 USB cameras for eyes, 2 mono microphones for ears, a

speaker for a mouth, and can be equipped with a laser

range finder in its base for obstacle detection. It will also

communicate with a local network which includes other robots, cameras, and mobile

phone services.4 Single Board Computers (SBCs)

Designed primarily for taking orders with a smile, it comes

with a large adjustable touchscreen, which allows customers to choose from the restaurant’s menu, and payment can be handled on

the spot by swiping your credit card. POS system

Windows PC and a sub CPU designed by Vstone. Motions

can be programmed using the same software as

Vstone’s hobby robot kits.

object, face, speech and gesture recognition facial expression

4 to 5 hrs/ 0.5 hrs

high capacity battry

yes yes yes yes yes

face and speech recognition as well as speech synthesis,

which allows it to remember specific people. For example, you would register yourself in the robot’s database and on the 2nd visit to the PIRO

building, the robot might greet you by name upon

recognizing your face.

Robovie R3 is based on a Windows-powered

computer, with a specialist sub-board that controls the main robot functions and

which is compatible with the same robot control and

management software that Vstone uses for their smaller

hobby robots.

yes yes yes yes yes

yes yes yes yes yes

yes ues yes yes

yes yes yes yes yes

NO wireless LAN AV transmitter yes

NO NO yes

yes yes

No yes yes yes

yes yes

yes yes

yes yes

yes

yes NA NA

NA NA NA NA

NA NA Na NANA NA NA NANA NA Na NA

Wakamaru ENON EMIEW RIBA Care-O-bot 3

15 16 17 18 19

Japan Japan Japan Germanyhousehold robot service robot commersial robot

The nursing-care assistant robot(Robot for Interactive

Body Assistance)

* provide a common open source repository for the

hardware platform * provide simulation models

of hardware components * provide remote access to

the Care-O-bot® 3 hardware platform

designed for family life! ,use as a teaching aid for preschoolers or as a promotional tool for

businesses.

Practical Application of Next-Generation Robots Robot designed to help

cope with Japan’s aging population will need to be

more productive and reliable than ever.

The mobile robot assistant Care-O-bot 3 is able to assist humans

in their daily life

LEDs in the eye , 6 cameras digital cameras

accelreation:4 m/s2,6 km/h

$15,000 $60,000

Hitachi, NEDO

omni-directional camera atop its head gives Wakamaru a

wide field of vision.

3 km/hr.

Mitsubishi Heavy Industries, Ltd.

Fujitsu Limited & Fujitsu Frontech Limited

RIKEN (The Institute of Physical and Chemical

Research)

Fujitsu Limited & Fujitsu Frontech Limited

RIKEN-TRI Collaboration Center for Human-Interactive Robot

Research(RTC), established as a joint collaboration

project by RIKEN and Tokai Rubber Industries, Ltd. (TRI)

http://www.plasticpals.com/?p=235http://www.plasticpals.com/?p=1348http://www.plasticpals.com/?p=29http://rtc.nagoya.riken.jp/RIBA/index-e.htmlhttp://www.care-o-bot-research.org/care-o-bot-3/technical-data




http://rtc.nagoya.riken.jp/RIBA/index-e.html

http://www.care-o-bot-research.org/care-o-bot-3/technical-data

100 cm 1,3 m 130cm, 140cm 1.45m

30 kg. 50 kg 70 kg 180 kg

75/55/145 cm

16 31

10kg human weight 3 kg

TRI's material

http://mindtrans.narod.ru/robots/robots.htm

digital cameras and radar-sensors mounted on its head and torso that allow it to see

and avoid bumping into obstacles

http://mindtrans.narod.ru/robots/robots.htm

Since the head can swivel 360°s, the body has been

designed with both the front and back in mind, giving it

two different purposes. One side features a 26cm LCD

touchscreen displaying information such as maps. The other side has a cargo

bay that can hold up to 10kg for you while it escorts you to

your destination.

digital cameras and radar-sensors mounted on its head and torso that allow it to see

and avoid bumping into obstacles

RIBA is the first robot that can lift up or set down a real human from or to a bed or wheelchair. RIBA does this using its very

strong human-like arms and by novel tactile guidance

methods using high-accuracy tactile sensors. RIBA was developed by

integrating RIKEN's control, sensor, and information

processing and TRI's material and structural

design technologies.

Max payload= 10kg

high accuracy tactile sensors embedded in its arms

underneath pliant urethane foam rubber, which detects slippage and helps hold a

person comfortably. Can hold human weight. RIBA is the

first robot that can lift up or set down a real human from or to a bed or wheelchair. RIBA does

this using its very strong human-like arms and by novel tactile guidance methods using high-accuracy tactile sensors.

RIBA was developed by integrating RIKEN's control,

sensor, and information processing and TRI's material

and structural design technologies.

The robot is equipped with a highly flexible, commercial arm with seven degrees of freedom as well as with a

three-finger hand. This makes it capable of gripping and operating a large number of different everyday objects. As an interactive butler the robot is able to move safely among humans, to detect and grasp typical

household objects, and to safely exchange them with humans. Force sensors prevent it from gripping too

hard. Payload: 3kgs.

omni-directional camera atop its head gives Wakamaru a

wide field of vision.

Since the head can swivel 360°s, the body has been designed with both the front and back in mind, giving it two different purposes. One side features a 26cm LCD

touchscreen displaying information such as maps. The other side has a cargo bay that can hold up to 10kg for you while it escorts you to your

destination.

novel tactile guidance methods (will autonomously return to

his charging station when low on juice)

26cm LCD touchscreen displaying information such as maps, (Japanese, English and Korean software is available). automatically return to its self-

charging station when it gets low on juice

Care-O-bot 3 has an omnidirectional platform, with four steered and driven wheels. This kinematic

system enables the robot to move in any desired direction and therefore

also safely to negotiate narrow passages

Wakamaru is able to understand 10,000 words

common to daily life.

capable of providing guidance, escorting people,

transporting objects, and security patrolling, thereby differentiating enon from

other service robots on the market that are designed

specifically for only a single task such as transporting, cleaning, or surveillance

has a reaction time of 100 miliseconds.

cuddly teddy bear to avoid frightening patients

As an interactive butler the robot is able to move safely among humans, to detect and grasp

typical household objects, and to safely exchange them with

humans.

Mass: 30 g; Casing: Fabric; Battery type: Li-Ion ;

Battery functioning life: 2 hours; CPU: Multi processor

configuration; Voice: Speaker;

Movement: Wheels ;Max. speed: 1 km/hour;Drive method: DC servo

motor

robot is self-guiding, with limited speech recognition

and synthesis. Enon, an English acronym for "exciting nova on network" can pick up and carry roughly 500 grams (1 lb) in its arms and comes without software. The enon

robot measures 560 mm (Shoulder width) x 540 mm (Depth) x 1300 mm (Height)

and weighs 50kg

High Size Emiew 2 is about 32 inches and weighs about 30 pounds. This robot can walk with EMkedua two or four wheels depending on foot

position, and navigating with a scanning range finder.

Assisted by an active suspension system, the

maximum speed is 3.7 mph. This robot has 25 axes of

motion.

IBA, Robot for Interactive Body Assistance, which can lift a weight of 61 kg on its foam padded arms. weighs

180 kg and can carry patients weighing up to 61

kilograms. Nearly silent engines and circulation

system allows the robot to maneuver in the limited

space of hospital corridors.

Care-O-bot 3 is only 1.45 meters high and based on a

omnidirectional platform with four separately steered and

driven wheels that enable the robot to move in any direction

with ease. The new Care-O-bot® has a highly flexible arm with

seven degrees of freedom and a hand with three fingers. Arms: Schunk LWA 3 (extended to 120

cm)CAN interface (1000 kbaud)

Payload: 3 kg . Gripper: Schunk SDH with tactile sensor

CAN interfaces for tactile sensors and fingers. ;

Torso: 1 Schunk PW 90 pan/tilt unit

1 Schunk PW 70 pan/tilt unit1 Nanotec DB42M axis

Elmo controller (CAN interface

He has face recognition technology which allows him to recognize 2 individuals in

the household as his owners, as well as up to 8 other

people, simply by looking at them. If you dislike the name Wakamaru, you can name him whatever you want and

he will respond to that name.

Voice synthesis and recognition capabilities allow

you to converse with it. These features, along with the ability

to patrol a set route, make the ENON a capable guide or security drone. As its name

suggests, it is connected to a network wirelessly allowing users to control it remotely.

For example, you could request that an ENON unit deliver a package from one

end of a building to the other, or to investigate an area

further.

structural design technologies.

are-O-bot 3 has an omnidirectional platform, with

four steered and driven wheels. This kinematic system enables

the robot to move in any desired direction and therefore also safely to negotiate narrow

passages. The robot is equipped with a highly flexible,

commercial arm with seven degrees of freedom as well as with a three-finger hand. This

makes it capable of gripping and operating a large number of different everyday objects.

built-in collision detection sensors to avoid obstacles,

people, or pets

11 range sensors, and 1 bump sensor

radar-sensors mounted on its head and torso that allow it to see and avoid bumping into

obstacles.high accuracy tactile sensors embedded in its arms underneath pliant urethane foam rubber, which detects slippage and helps hold a person comfortably

tectile sensors 2 AVT Pike 145 C, 1394b,

1330×1038 (stereo circuit)MESA Swissranger 3000/4000

information processing

built-in collision detection sensors to avoid obstacles,

people, or pets.

11 range sensors, and 1 bump sensor. LEDs in the eye , 6

cameras.

digital cameras and radar-sensors mounted on its head and torso that allow it to see and avoid

bumping into obstacles

tectile sensors -2 AVT Pike 145 C, 1394b, 1330×1038 (stereo circuit)MESA Swissranger 3000/4000.

Stereo-vision color cameras, laser scanners and a 3-D range camera

enable Care-O-bot® 3 to register its surroundings in three dimensions in real time. If a person moves into the

radius of its arm, it stops moving

Among the robot's features there are some sensors for

position measurement, infra-red ray obstacle detection, collision detection, etc. The

built-in processing unit allows the bot to avoid obstacles

and to move quite easily to the registered map, as well as “follow” and “ find” people. There is also an integrated

option that allows the robot to move to the charging

panel the moment it runs out of battery. Interactive voice

technology – voice recognition & speech

Eye contact technology – physical or facial movement

detectionFace recognition technology

– face observation & differentiation

Obstacle avoidance technology – ultrasonic, infrared, & contention

detection bumper sensors.

For communication it has speech synthesis in Japanese

and a touch panel LCD monitor on its chest enables the robot to communicate in a diverse range on situations. Its face has an assortment of

LEDs and is capable of a variety of expressions. The robot is connected through wireless LAN to a server for

additional information exchange.

Equipped with 14-channel microphone system in the

head, Emiew can also cancel the noise generated by the device in it alone to hear a

better person

Care-O-bot 3 is fitted with stereo-vision color cameras, laser scanners and a 3-D range camera

that can register its surroundings in three

dimensions in real time. Gaia rechargeable Li ion

battery 60 Ah, 48 VInternal: 48 V, 12 V, 5 Vseparate power supplies to motors and controllersAll motors connected to emergency-stop circuit.

Sensor Head: 2 AVT Pike 145 C, 1394b, 1330×1038

(stereo circuit)MESA Swissranger

3000/4000

novel tactile guidance methods

26cm LCD touchscreen displaying information such as maps, (Japanese, English

and Korean software is available).

3 PCs (2 GHz Pentium M, 1 GB RAM, 40 GB HDD)

2 full hours

yes yes yes

The bot can connect itself to the network to provide the information it needs for its

daily routine.

The Enon robot features autonomous navigation by

referring to pre-programmed maps and wide-angle

cameras on its head to perceive people or objects in

its environment without a need for special markings on

floors or walls

The robot, that can also recognise faces and voices

and respond to up to 30 spoken commands

Care-O-bot 3's database consists of three-

dimensional impressions of numerous household

articles to perfectly differentiate between

items it need to pick up. Users can also make the robot to recognize new objects by placing any unfamiliar object in its

hand and it can automatically gain a 3D impression of that item.

For using Care-O-bot® 3 provides an open-source repository for different robotic frameworks (at the moment ROS and

Orocos). The repository includes hardware drivers

as well as simulation models and application examples. 3 PCs (2 GHz

Pentium M, 1 GB RAM, 40 GB HDD)

(will autonomously return to his charging station when low

on juice)

automatically return to its self-charging station when it gets

low on juice

yes yes yes

yes yes yesyes yes

yes yes

yes yes

yes yes

yes yes yes

yes yes yes

yes yes yes

yes

yes yes yesyes yes yesyes yes yesyes yes yes

yes NA

yes NA

yes NAyes NAyes NA

TPR-Robina

20

3.6km/h

TOYOTA MOTOR CORPORATION (TMC)

1.2m

60kg

27

using ultrasonic sensors in her trunk and a laser range finder in her base to detect

obstacles. With these sensors Robina is able to plan a path through her

environment in real-time, so that even if something

unexpectedly blocks her path she can continue

towards her destination

using ultrasonic sensors in her trunk and a laser range finder in her base

to detect obstacles. With these sensors Robina is

able to plan a path through her

environment in real-time, so that even if

something unexpectedly blocks her path she can continue towards her

destination

Speech recognition and synthesis give Robina the

ability to hold a simple conversation.

ultrasonic sensors in her trunk

ultrasonic sensors in her trunk

using ultrasonic sensors in her trunk and a laser range finder in her base

to detect obstacles

Speech recognition and synthesis give Robina the

ability to hold a simple conversation

6

Pictures

Sr.no Details REEM H2

1 Country Spain

2 Ht(cm)

3 Wt(kg) 90 kg (198 pounds)

4 Dimensions (W*B)

5 DOF Total

6 AIM


8 Motor

9 Sensors

10 Vision

11 Computing System Core 2 Duo + ATOM

12 5 Km/h

13

14 Rough Cost of Development

15

16 Battery lithium battery

17 Battery Life(Approx.) 8 hours

18 Rankings (on a scale of 10 )


20 operating time 8 hours

1,65 m

22

commercialrobot

In a wide spectrum of public spaces






21 depth

22 width

23 recognition of moving object yes

24 yes

25 enivronmental recognition yes

26 distinguishing sound yes


28 internet connectivity yes

29 network integration no

30

31 Correcting Its Own Position

32 Identifying Obstacles yes

33 Automatic Detour Function


35 walking/moving with the tray yes

36 putting the tray on the table yes

37 handleing the cart


39 quantity(2010)

40 company pal technology

41 WEBLINKS

42 material used

43 battery lifetime 8 Hours

44 battery features

45 additional tech used

46 programing used

47 additional features touch screen on its chest

48 partners pal electroinics


50 Each hand weight lifting 3kg

51 Carrying weight

52 stable platform

53 Falling recovery mechAnism cant fall

54 balancing on one leg NA




kg per each arm


autonomous navigation system, its user-friendly touch-screen,

and its voice and face recognition system, REEM-H2 can help or entertain people in most public

environments.

30 Kg for the mobile base.3 Kg each arm



55 bending on knee wheels56 Bending & picking up ball

4

PR 2

USA

1.33-1.645m

Approx.200kg

Base Width & Depth :: 668 mm

Arm-4,Wrist-3,Gripper-1

43 (12 in base,7 in each arm,2 in the head)

1m/s

more than 4 years

$400,000

1.3 kWh Lion Battery Pack

runtime 2 hrs

runtime 2 hrs

Research & Innovation-Development of ROS based applications

Currently being used for research by universities

Rotating 3D laser,Base laser scanner,stereo cameras,accelerometer,texture projector

pan-tilt head contains wide and narrow stereo cameras, a 5-megapixel camera, a

texture projector and a Hokuyo laser range-finder.

2 Quad Core i7, 24GB RAM, 500GB internal HD, 1.5TB Removable HD

yes

no

yes

no

No

yes

yes

yes

yes

yes

yes

yes

yes

Arm Payload :: 1.8 Kg (4 lbs)

Willow Garage

runtime 2 hrs

ROS

1.8 Kg (4 lbs)

Arm Payload :: 1.8 Kg (4 lbs)

4 wheeled base

NA

www.willowgarage.com/pages/pr2/overview

4 x smart charge controllers + 16 x Li-Ion batteries + 4 x power supplies from Ocean

Server, Power Control Board

Backdrivable arms,spring counterbalance,gripper,telescoping

spine,omnidirectional base,autonomously navigation, locate power outlets, and plug

itself in.

http://www.willowgarage.com/pages/pr2/overview

wheels

REEMH1Sr.no Details

1 Country Spain

2 Ht(cm) 1.65 meters3 Wt(kg) 90 Kg4 Dimensions (W*B)

5 DOF Total21

6 AIM Service Robot


hotel, museum, trade show

8 Motor

9 Sensors

10 Vision

11 Computing System Core 2 Duo

12 4 Km/h

13

14

15

16 Battery

17 Battery Life(Approx.) 8 Hours

18

19

20 operating time 8 Hours21 depth

22 width

23 yes

24

25 yes26 distinguishing sound


Microphone, stereo-camera, laser, ultrasounds, accelerometers and gyroscopes



Rough Cost of Development


Rankings (on a scale of 10 )

Percentage Given out of 100

recognition of moving object


enivronmental recognition

28 internet connectivity yes29 network integration

30

31

32 yes

33


35 yes

36 yes37 handleing the cart

38 max load handeledPayload: 6 Kg

39 quantity(2010)

40 company PAL Robotics

41 WEBLINKS

42 material used

43 battery lifetime 8 Hours

44 battery features

45 additional tech used user-friendly touch-screen

46 programing used

47 additional features touch screen on its chest

48 partners



Correcting Its Own Position

Identifying Obstacles

Automatic Detour Function

walking/moving with the tray

putting the tray on the table

http://www.pal-robotics.com/robots/reem-h1

50

51 Carrying weightPayload-6 Kg

52

stable

53cant fall

54 balancing on one legNA

55 bending on knee no

56no

Each hand weight lifting


Falling recovery mechAnism

Bending & picking up ball

REEM H2

Spain

90 kg (198 pounds)

Core 2 Duo + ATOM

5 Km/h

lithium battery

8 hours

8 hours

yes

yes

yes

yes

yes

1,65 m

22

commercialrobot

Healthcare, Trade shows and events, Shopping malls,

Hospitality, Entertainment, Museums, Universites and R&D

institutes

two motorized arms, which give it a high degree of expression, and a head, which is also motorized.



no

yes

yes

yes

yes

pal technology

8 Hours

Communication with Ethernet and wifi


kg per each arm

http://www.pal-robotics.com/robots/reem-h2

designed the H2's to have batteries that can quickly and easily be replaced

autonomous navigation system, its user-friendly touch-screen, and

its voice and face recognition system, REEM-H2 can help or entertain people in most public

environments. REEM contains an advanced 12 inch

multimedia touchscreen with a variety

of applications.

it can transport small packages. It can move up and down ramps, and can navigate indoors using laser scanners. It can be used for video-conferencing, web access, and it can recognize faces and voices.

3kg. Can lift a maximum of 8kgs

stable platform

cant fall

NA

wheels

30 Kg for the mobile base.3 Kg each arm

Sr.no Details ReemA ReemB

1 Country spain spain

2 Ht(cm) 1.40 meters 147

3 Wt(kg) 40 Kg 60

4 Dimensions (W*B)

5 DOF Total 30 40

6 AIM For research, robocup Domestic robot

7 none

8 Motor

9 Sensors

10 Vision stereo camera

11 Pentium M (1.6 GHz)

12 1.5km/hr (a) 1.5

13 started in 2004 2005-2008 (4 years)

14

15

16 Battery

17 90 Minutes 120 min

18 8.5

19

20 operating time 90 Minutes 120 min

21 depth

22 width

23 yes yes

24 no

25 no

Application Industry

servo motors with harmonic drive gear reduction system. it

has fingered hands with 12 motors, which enables it to

perform different chores after accepting voice commands.

Microphone, stereo-camera, six axis force

control, accelerometers and gyroscopes

microphone, stereo camera,six axis force

sensors,accelerometer,gyro,ultrasonic sensor, laser

rangefinder

Computing System

Core 2 duo (1.66 Ghz) Geode (500 Mhz)





rechargeable Ni- MH battery pack

Battery Life(Approx.)






26 yes yes

27 face recognition yes yes

28 no

29 no

30 yes

31 yes

32 yes yes

33

34 handeling a tray yes yes

35 yes yes

36 yes yes


38 Payload: 2kg

39 quantity(2010)

40 company pal technology pal technology

41 WEBLINKS

42 material used

43 battery lifetime 90 Minutes lithium ion battery

44 battery features it will be charged for 2 hr

45

46 programing used


48 partners pal electronics

49

distinguishing sound

internet connectivity

network integration



Identifying Obstacles


walking with the tray


max load handeled

it can lift objects up to 14 kilograms

http://www.pal-robotics.com/robots/

reem-agizmodo.com/.../reem-b-

strong, lightweight composite materials

additional tech used

s capable of face recognition, speech interaction, biped

walking, traversing stairs, and sitting

It was designed to play chess with the Hydra

chess engine and to be used as a walking,

manipulation, speech and vision development

platform.

One of the key features of REEM-B is its strength. It can lift and transport heavy objects

up to 20- 25% of its own weight. it accepts voice

commands, recognises faces and objects. Developed by

Abu Dhabi-based PAL Technologies, Reem B has

manoeuvrability skills — it can walk, climb stairs and even

carry weighty objects.

mechnacical structure

50 Payload: 2kg

51 Carrying weight Payload: 2kg

52 yes yes

53

54

55 bending on knee

56 no no

57 Kicking yes yes


it can lift objects up to 14 kilograms


Falling recovery mechniasm

balancing on one leg


release REEM-C sometime in 2011. It will be more robust, it will have a greater range of motion, will be able to climb stairs, and will operate up to three times as fast as REEM-B. We also want to reduce the manufacturing costs. REEM-C will have 46 motors, with 16 motors just on the hands, and should be able to operate for 2-3 hours on a battery charge.

Sr.no Details KHR1 KHR2

1 Country Korea Korea2 Ht(cm) 120cm 120cm3 Wt(kg)

4 Dimensions (W*B)

5 DOF Total 21 41

6 AIM


8 Motor

9 Sensors

10 Vision

11 Computing System

12

132002 2004

14

15 $1,600

16 Battery Ni- MH , 24 V , 8 AH

17 Battery Life(Approx.)

18 8

19

20 operating time

21 depth

48 kg 56 kg

Develop a reliable platform for humanoid research

Servo motors : KRS-788HV×17 KRS-4024SHV×2. It is equipped of the sturdy KRS-788 HV (high voltage) servo motors. They perform realiable torque and precise motions. Torque:10.0Kg. Speed: 0.14sec/60. Adaptable voltage：9:12V

DC servo motor + harmonic drive

reducer+drive unit. 24 servo motors

3 axis torque sensor,rate gyro andinclination sensor

3-axis Force/Torque sensor (wrist

Control board RCB-3HV●AC100V charger exclusively for this kit

Speed a. Walking b. Running(kmph) 1.0 km/h 1.2 km/h




ROBO POWER Cell 10.8V-800mAh(Nyckel-Hydrogen battery



22 width

23 yes

24 yes

25 yes26 distinguishing sound

27 face recognition no28 internet connectivity

29 network integration

30

31

32 Identifying Obstacles

33

34 handeling a tray

35 walking with the tray

36



39 quantity(2010)

40 company

41 WEBLINKS

42 material used

43 battery lifetime

44 battery features








http://en.wikipedia.org/wiki/HUBO

www.robotadvice.com/kondo-khr-2_robot

Frame made of light alloy of alluminium (treated with anodized aluminium)

45 additional tech used

46 programing used


48 partners


50

51 Carrying weight

52

yes yes

53yes yes

54 balancing on one leg yes yes55 bending on knee

56yes yes

57 Kicking

Reinforced resin-treated servo arm

RCB-3J control board can control 24 servo motors and features analog and digital sensor input channels, multi-tasking, master/slave control.

Programming is done using the HeartToHeart version 3.0 motion editor

its arms and legs are not controlled together.

twin gyro stabilizer , radio control units , chest and Shoulder extenders etc. the RCB-3J incorporates two serial communication approaches - a high speed serial port capable of 115,200 bps communication, and a lower speed serial port for use with R/C type controls



Falling recovery mechniasm


HUBO ALBERT HUBO KHR4-HUBO2

korea Korea Korea125 cms 137cm

45 kg 57kg 45kg

40 66 40

research robo

1.5 km/h 3.6 kilometers an hour

20102005 2010

7

120 minutes

125 cm

The android was able to speak and cover a wide range of natural

facial expressions

it has 40 motors . They are dynamixel motors

with drives

Its frame was made of aluminum alloy to lighten it by 10 kilograms, the wide motor belts in the fingers were replaced by thin wires, and three motors power the wrist, enabling HUBO 2 to grab any object.

robot has been fitted with a wide variety of sensors, namely a 3-

axis force/torque sensor which measures a normal force and 2

moments, a gyration sensor, a body

inclination sensor, as well as inclination

sensors in both of its feet.

robot has been fitted with a wide variety of sensors, namely a 3-

axis force/torque sensor which measures a normal force and 2

moments, a gyration sensor, a body

inclination sensor, as well as inclination

sensors in both of its feet.

ViewPort now supports computer vision using OpenCV, fuzzy logic,

physics simulation

real time operating system

1.25 km/h

t carries a lithium polymer battery with a

480 watt-hour capacity, …

yes

yes

yes

yes

KAIST

http://hansonrobotics.wordpress.com/http://en.wikipedia.org/wiki/HUBO

http://en.wikipedia.org/wiki/HUBO

The head part uses a material known as

'Frubber

Its frame was made of aluminum alloy to lighten it by 10 kilograms, the wide motor belts in the fingers were replaced by thin wires, and three motors power the wrist, enabling HUBO 2 to grab any object.

http://hansonrobotics.wordpress.com/

Windows XP and RTX

yes yes yes

yes yes yesyes yes yes

yes yes yes

Albert HUBO, the latest humanoid version of the

HUBO robots, can make expressive gestures with its 5

separate fingers. Its first robot in world to get

facial expression

HUBO 2 is able to move faster and its wrists can move in all directions like human wrists. Its fingers have been upgraded as well so the fingers can grab an object regardless of its shape. These features are what set HUBO 2 apart from its predecessor.

they follow a s shape walking

and take more than three 30-centimeter steps in a second.

Documents

Comparision of HUMANOID feb 2011