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Ambarish Goswami Prahlad Vadakkepat Editors Humanoid Robotics: A Reference Humanoid Robotics: A Reference Ambarish Goswami • Prahlad Vadakkepat Editors Humanoid Robotics: A Reference With1147Figuresand81Tables 123 Editors AmbarishGoswami PrahladVadakkepat IntuitiveSurgical NationalUniversityofSingapore Sunnyvale,CA,USA DepartmentofElectricalandComputerEngineering Singapore,Singapore ISBN978-94-007-6045-5 ISBN978-94-007-6046-2(eBook) ISBN978-94-007-6047-9(printandelectronicbundle) https://doi.org/10.1007/978-94-007-6046-2 LibraryofCongressControlNumber:2018940267 ©SpringerNatureB.V.2019 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartof thematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation, broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformation storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodology nowknownorhereafterdeveloped. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Thepublisher,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthisbook arebelievedtobetrueandaccurateatthedateofpublication.Neitherthepublishernortheauthorsor theeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinorforany errorsoromissionsthatmayhavebeenmade.Thepublisherremainsneutralwithregardtojurisdictional claimsinpublishedmapsandinstitutionalaffiliations. ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureB.V. Theregisteredcompanyaddressis:VanGodewijckstraat30,3311GXDordrecht,TheNetherlands Toalltheyoungresearchersofhumanoid robotics Preface Bipedal walking is evident from the earliest homininis, but why our unique two-legged gait evolved the way it did remains a matter of conjecture. Bipedal locomotion is an energetically efficient form of locomotion. Endowed with four appendages, which is morphologically common among all mammals, bipedalism seems to be an optimal “middle ground” solution involving both locomotion and manipulation. Using all four extremities for mobility would severely reduce manipulation capabilities, whereas two appendages at a minimum seem to be necessaryeitherforlocomotionorforeffectivemanipulation.Locomotionononly one leg, e.g., hopping, and manipulation with only one hand seems awkward. Moreover,foranimalswithmorethanfour“legs,”coordinationamongappendages becomes a significant complicating factor both in locomotion and manipulation. Finally, bipedalism generally leads to a relatively slender body structure and a smaller “footprint” which are particularly suited for passing through narrow pathwaysandthroughterrainstrewnwithobstacles,quicklyturninginplace,being able to manipulate objects at a large range of heights, and seeing over obstacles. Thesefeaturesgivebipedalpostureanevolutionaryadvantageofkeepingthehead highforperceivingdangersandtosafeguardingagainstpredators.Bipedalismhas additional advantages from survival perspective; when our hands are freed from weight-bearing and locomotion responsibilities, activities involving manipulation such as tool making, hunting with hand-held arms such as rocks and spears, and eventhecreationofartbecamepossible. In the modern society, humans have built complex environments, tools, and equipments that are finely adapted for human use. Humanoid robots with human- like morphology and motion capabilities inherently have a greater compatibility in human environments. We hope that this reference book Humanoid Robotics: A Reference will act as a catalyst, expediting the process toward making better customizedhumanoidsinthenot-so-distantfuture.Whenplanningcontentsforthe book,weestablishedafewgoalsforourselves:(1)Comprehensive:Thebookshould coverallthemajortopicssurroundinghumanoidrobotics,(2)Stateoftheart:The technicalcontentshouldbecurrentandevenfuture-learningand,whereverpossible, should include comments on open questions for future research, (3) High quality: Contributionsaretobeobtainedfromthebestexpertsinthefield,(4)Approachable: As much as possible, the contents should be understandable by an audience of vii viii Preface younger researchers, those who are relatively new to the field or are considering enteringthefield,andfinally(5)Lastingvalue:Thebookisintendedtohavealong lifespanandserveasaone-stopdestinationonthetopicofHumanoidRobotics. Let us go over the overall structure and contents of Humanoid Robotics: A Reference.Thereferencebookisorganizedinthreevolumes,whichcontain11Parts intotal.EachPartfocusesonabroadthemeandconsistsofseveralchapters. Volume1ofthebookcontainsfourParts.Part1,“HistoryofHumanoidRobots,” contains4chapters;Part2,“DevelopmentStoryof14FamousHumanoidRobots,” contains 14 chapters; Part 3, “Humanoid Mechanism and Design,” contains 13 chapters; and finally Part 4, “Humanoid Kinematics and Dynamics,” contains 9 chapters,foratotalof946pages. ThefirstchapterofthePart“HistoryofHumanoidRobots”iswrittenbyProfs. Siciliano and Khatib who are the Chief Editors of the Springer Handbook of Robotics; it provides a general overview of the contents of this reference book as well as history of humanoid robotics. The following three chapters explore perspectives of robotics research in three major geographic areas of the world, Asia, Europe, and America. Part 2, “Development Story of 14 Famous Humanoid Robots,” describes the technical story behind a selection of iconic humanoids that have pioneered development and helped shape the field. Many of these robots are well known due to their appearances over the years in museums, television, and news outlets across the world. Each contribution discusses a brief history of the robot, its design and capabilities, and the outcomes that led to seminal work. Part 3, “Humanoid Mechanism and Design,” is all about robot hardware. Starting from historical aspects of humanoid design, it focuses on individual limb mechanismssuchasheadandface,shoulder,armandhand,leg,footandtoe.Then it presents examples of mechanism design of a number of existing whole-body humanoid robots. The part will conclude with a discussion and future directions in this area. Finally, the Part “Humanoid Kinematics and Dynamics” covers the unique aspects of kinematics and dynamics of humanoid robots. Starting from a historical perspective, the part reviews common concepts to modeling kinematics and dynamics. Next, it focusses on specifics of humanoid robots. Associated important topics including parameter estimation techniques and analogy with a human body kinematics/dynamics are also discussed. This Part concludes with a discussiononfuturedirectionsinthisarea. Volume2ofthebookcontainsthreeparts:Parts5,6,and7.Part5,“Humanoid Control,” contains 15 chapters; Part 6, “Humanoid Balance,” contains 9 chapters; and the third and final Part of this volume, Part 7, “Humanoid Motion Planning, OptimizationandGaitGeneration”contains12chapters,foratotalof990pagesfor thisvolume. The Part “Humanoid Control” represents a concerted effort to encapsulate the state of art in humanoid robot motion control from both theoretical and practical pointsofview.Itreportsonmotioncontrolprinciplesforhumanoidsstabilization, locomotion, and whole body motion including methods which have taken inspira- tion from mechanics (ZMP, energy transfer, resolved momentum, and compliance control),fromautomatic(poincarestabilityandpredictivecontrol),fromsimplified Preface ix to more complex models, (inverted pendulum, cart table, multiple mass models, and passive walking systems) and from human neuromechanical motion control principles(centralpatterngeneratorandneuralnetworkslearning).Part6dealswith the topic of “Humanoid Balance.” Balance is a generic term describing the ability tocontrolthebodypostureinordertopreventfalling.Theneedforbalancecontrol isoneofthefundamentalpropertiescharacterizingbipedalhumanoidrobotsdueto their limited supporting area provided by the feet. It involves whole body motion coordination based on multiple sensory data as well as controlling the motion responsewithrespecttoexternalperturbationsduringstandingandwalking. Physiological basis and biomechanical description of human balance are reviewedandcomparedtoseveralstate-of-the-artapproachesdevelopedinrobotics research. Finally, the Part “Humanoid Motion Planning, Optimization and Gait Generation” covers advanced methods for planning global motion and also generatingtrajectoriesofhumanoidrobots,bytakingintoaccounttheircomplexity in geometry, kinematics, and dynamics. This is a central topic in humanoid, and indeed,forallmobilerobotsbecausetheserobotsarenaturallyexpectedtonavigate through various environments and to execute useful tasks by coordinated motions of their arms and legs. The presented advanced techniques for humanoid robots include motion planning, walking pattern generation, motion optimization and relatedtopics,aswellastheirintegrationinrealhardware. Volume3containsfourparts:Parts8,9,10,and11.Part8,“HumanoidSimula- tions and Software,” contains 9 chapters, Part 9; “Human-Humanoid Interaction,” contains 13 chapters; Part 10, “Humanoid Sensing, Actuation and Intelligence,” contains 9 chapters; and finally, Part 11, “Application of Humanoids,” contains 6 chapters,withatotalof896pages. The Part “Humanoid Simulations and Software” presents the state-of-the-art methods and systems related to simulating motions and behaviors of humanoid robots. Topics covered include algorithms for rigid body and contact dynamics, modeling and simulation of various elements composing humanoid robots, and software architecture to efficiently handle virtual and real robots. It also gives a comprehensive overview of publicly available software systems so that readers can choose appropriate simulators for their research. The Part “Human-Humanoid Interaction”presentsanumberofmodalitiesinwhichinteractionbetweenahuman and a humanoid can be carried out. A human can interact with a robot using movement,speechandlanguage,symbolicgestures,andphysicalinteraction,which are all described in this Part. The next Part “Humanoid Sensing, Actuation and Intelligence”exploresthefundamentalprinciplesinthemaintypesofsensorsand servosusedinhumanoidactuation.Thesensorsonthehumanoidrobotsareusedto measurethecurrentstateoftherobotanditsenvironment.Thereareinternalsensors tomeasurethestateoftherobotsuchasjointangles,velocities,andjointtorques. IMUsensorsincludingaccelerometersandrategyrosareusedtosensetheposture ofrobotbodysimilartoahumanvestibularorgan.Interactionbetweentherobotand environment can be detected through tactile and force/torque sensors. Vision and rangesensorsmeasureandestimatetheenvironmentinformationaroundtherobot. ThefinalPartofthebook,“ApplicationofHumanoids”exploresactualapplications x Preface of humanoid robots in the human society. The possibilities are many and we have to work tirelessly toward making humanoids a beneficial and financially justified technicalsolution. It would be incorrect to say that the preparation of this reference book was an easy task. We started with very little experience of handling a project of such large magnitude, and we mostly learned while on the task. In retrospect, ignoranceisindeedausefulthing,becauseifwehadaclearmeasureofthesizeof thetaskanditsdemandonourtime,itwouldhavegivenusanintrospectivepause. Nevertheless, working on the book gave us an amazing opportunity of interacting with all the brilliant minds in the world of humanoid robotics; that is definitely a concretebonusforus.Theauthors’listatteststothefactthatthebookhasbrought togethertheverytopresearchersofthefield.Thisgivesustremendoussatisfaction. Oursincerethanksgotoeachofthe199contributors. Thetaskofpreparingthebookwasmadesimplerbythegeneroushelpfromthe Part Editors, 27 in all, who are to be credited for coordinating with the individual contributors of their respective Part and managing the technical review process of each chapter. The majority of Part Editors are faculty members or members of research labs, and a project of this nature does not directly contribute to their tenureevaluationortheireffortinsecuringresearchfunding.Despitethis,thePart Editorsacceptedtheirrolewithsincerityandmanagedeachstepoftheprocesswith diligence. We cannot thank them enough. The selection of these Part Editors has probablybeenthemostimportantcontributionoftheEditorsinChief. Last but not least, we would like to thank the publication team of Springer for theirgreatsustainingeffortsinpublishingthisbook.Theyknowhowinstrumental their help has been in so many aspects of the project. Yet in all their day-to-day interactions,evenwhenweweremissingourdeadlinesbyamile,theycontinuedto beniceandfriendly.Itwasapleasuretoworkwiththem. IntuitiveSurgical,USA AmbarishGoswami NUS,Singapore PrahladVadakkepat Contents Volume1 PartI HistoryofHumanoidRobots ............................. 1 HumanoidRobots:HistoricalPerspective,Overview,andScope ...... 3 BrunoSicilianoandOussamaKhatib Historical Perspective of Humanoid Robot Research intheAmericas................................................. 9 StefanSchaal HistoricalPerspectiveofHumanoidRobotResearchinEurope ....... 19 YannickAoustin,ChristineChevallereau,andJean-PaulLaumond HistoricalPerspectiveofHumanoidRobotResearchinAsia.......... 35 AtsuoTakanishi PartII DevelopmentStoryof14FamousHumanoidRobots........ 53 ASIMOandHumanoidRobotResearchatHonda .................. 55 SatoshiShigemi MITCog ...................................................... 91 BrianScassellati HRP-4andOtherHRPRobots ................................... 101 ShuujiKajita HistoryofHUBO:KoreanHumanoidRobot ....................... 117 Jung-WooHeo,JunghoLee,In-HoLee,JeongsooLim,andJun-HoOh JohnnieandLOLA:TheTUMBipeds............................. 131 ThomasBuschmannandMichaelGienger NAO .......................................................... 147 RodolpheGelin ThePETMANandAtlasRobotsatBostonDynamics................ 169 GabeNelson,AaronSaunders,andRobertPlayter xi