(仿生机械发展)

EvolutionofBiomorphMachines(仿生機械發展)理想………………………………………現實Version3.0Date:2004-10-15Lab.ofBio-EnvironmentalControlandSystemsAnalysisDept.Bio-IndustrialMechatronicsEng.NationalTaiwanUniversity學生:曾國師指導教授:方煒博士STUDENT:Kuo-ShihTsengADVISOR:WEIFANGOutline定義(Definition)先驅者(Pioneers)精神(spirit)歷史(History)仿生機械(BiomorphMachines)陸上,海下,飛行,人型(Walking,underwater,flying,humanoid)國內發展多機器人(multiplemobilerobots)競賽(GAME)ROBOCUPROBO-ONE如果我想走這條路???(If……)參考文獻(Reference)定義(Definition)機器人:感測器+驅動器+控制器理想………………………………………現實yahoo搜尋鋼彈,機器人大戰串聯機器人並聯機器人移動機器人定義(Definition)仿生:模仿生物仿生機器人:模仿”生物”的某些功能做出來的機器人工智慧:“思考如何思考”AVI今天主軸:機器人的力學,運動控制部份眼睛手機器視覺生物機械機器手臂腳機器腳腦人工智慧嘴巴人工聲帶定義(Definition)機器人學:最狂妄的學問扮演造物主兼具天人物我的學問從物質科學反思生物學從通訊思考人際關係造物主生物人際科學先驅者(Pioneers)VS.ShigeoHirose(廣瀨茂男)BrooksRodenyResearchSince1970.ResearchSince1980TITechHYRLab.MITAILab.Engineer機械人學家iRobotco.身體頭腦://www.ai.mit.edu/UsefulBiomorphMachineshumanoidRobots先驅者(Pioneers)—機器人學家中的機器人學家猶他大學機械工程、生物工程、電腦科學系教授.SARCOS機器人公司等四家公司.研發產品:義肢手臂、遊樂園機器人、人工腎臟、噴泉、機動背包影片:人機1、人機2、人機3運動1、運動2、運動3、運動4(spirit)達爾文(Evolution)--BrooksRodney超越生物(Superiorcreature)--RobertFull(生物學家)機械湯(Machinesoup)--VonNeumann(馮諾曼)生物限制(Livingrestrict)--BiologicalClock,Air,Water….etc.↗→↘?↗→↘↗→↘↗→↘↗→↘????????????→(發明電腦架構的人)歷史(History)—時代仿生時代區分:靜態雕塑時代Ex:神像機械生物時代Ex:魁儡電子生物時代Ex:陸龜類比電路數位科技時代Ex:今日內容Source:我們都是機器人,RodneyA..Brooks,2002,究竟圖書歷史(History)—近代BeginningfromfailuresofhumanoidRobots1970ShigeoHirosebegintoresearch!!1980BrooksRodenybegintoresearch!!1992“Stiquito&BEAM”--kits1997RoboCupAtNagoya(名古屋)2002Robo-one2004Now!FutureRobotswillbearoundus!!!!!!!!Wearebiorobots!!!!!Or?????研究單位WalkingBiomorphMachines—U.C.BERKELEY、TITech、McGillUniversity….etc.UnderwaterBiomorphMachines—MITFlyingBiomorphMachines—GeorgiaTechResearchInstituteHumanoidBiomorphMachines—MIT,HONDA&SONYmultiplemobilerobots—CaltechCORORoboCup—TheGlobeRobo-One—日,韓仿生機械(BiomorphMachines)陸上(Walking)海下(underwater)飛行(flying)人型(humanoid)結合生物與機械概念仿生機械—陸上WalkingBiomorphMachines↗→MartinBuehler(McGillUniversity)→RHEXiRobot→ArielMarkCutkosky(StanfordUniversity)↘SprawSDM(ShapeDepositionManufacturing)RHEXSensor:(遙控!!)Powersupply:12VX2Cost:$10000Dynamic:三腳支撐步法Purpose:WalkingAvi:1234567MartinBuehlerMcGillUniversity→Snake-likeRobotsWalkingRobotSouryuITITANIII,IVBEAMStiquitoMarkTilden(LosAlamosNationalLaboratory)(Solarobotics)→→→→JamesM.Conrad(ResearchTrianglePark)JonathanW.Mills(IndianaUniversity)TITAN-VIII(Roller-Walker)Sensor:PotentiometerforeachjointPowerSupply:DC30to48[v](formotors)DC5[v],+-15[v](fordrivers)Cost:24years,40personsDynamic:TITechDriverVer.2Purpose:Rescue(VII),Load(VIII)Avi:moveShigeoHiroseTITech:AVM(Valve-regulatedMultiple)suctionpadPurpose:清洗窗戶!!高速道路牆壁檢查!!Avi:1ShigeoHiroseTITechⅠ、Ⅱ号機ShigeoHiroseTITechSensor:(CCDx2+Microphone)PowerSupply:DC12VBatteryDynamic:Motor72Wx1+17Wx2Purpose:SaviourAvi:2D、3D、XDTroodyAVI:12DilworthMITBiology,Electronics,Aesthetics,MechanicsMarkTilden(LosAlamosNationalLaboratory)(Solarobotics)://www.solarbotics.com/Sensor:44Hz紅外線偵測器PowerSupply:4.8VbatteriesCost:cheap!!(solarcellmotortransistorscapacitor)Dynamic:MotorPurpose:NeuralNetsAvi:1、2類比機器人SpyderVBug1.0StiquitoPowerSupply:9VbatteryCost:$10Dynamic:NitinolWires(記憶金屬)Purpose:MusclewireAvi:1、2JamesM.Conrad(ResearchTrianglePark)JonathanW.Mills(IndianaUniversity)—海下Underwater--WandaPowerSupply:NiCdBatteries+17VDynamic:Purpose:SwimmingJohnKumphiRobot://robosapiens.mit.edu/ariel.htmSensor:Motorposition,footcontact,pressure(underwater),flow(underwater),compass,inclinometer,metaldetectorsPowerSupply:22NiCdcellsCost:$50000(materialsonly)Dynamic:Purpose:minesweeping仿生機械—飛行Flying--EntomopterPowerSupply:UncertainDynamic:ReciprocatingChemicalMuscle(RCM)Purpose:Flying,火星計畫!!AviRobertMichelsonGeorgiaInstituteofTechnology仿生機械—人型Humanoid--CogSensor:彩色攝影機X4,MicrophoneX2,三軸慣性組合,觸感感應器,動覺感應器(關節),判讀姿勢,應變計(測力),馬達溫度感應器…..etc.PowerSupply:外接12V,24V,5VPurpose:研究生理型態,感應器與驅動器整合及社會互動等等Avi:123BrooksRodenyMITAILab.://www.tmsuk.co.jp/jap/index.html遠端操控1993年1月開発1996年1月開発1997年開発TMSUK041999年開発T52000年開発TMSUK04-2株式会社テムザック危険な地域（工事現場や災害現場など）滅火!!SDR-4X(SonyDreamRobot):Prototype=原形ASIMO=shortforAdvancedStepinInnovativeMobility1996公開發表震撼~~機械人學界!!ZGundam高7m(23ft)寬3.5m(11.5ft)重量2噸總材料費約三百萬日元耗時7年(辭公司、埋頭製作)限乘1人岡山・久米頭部座艙內內部視野結合生物與機械概念的機器人vs.結合生物與機械概念Roller-WalkerAVI:12ShigeoHiroseTITech結合生物與機械概念SMC-RoverAVI:1234ShigeoH