Robots

 Geminoid HI-6 is a teleoperated android that closely resembles Hiroshi Ishiguro, ATR Fellow and Professor at Osaka University. It has a total of 53 degrees of freedom, and can reproduce various human behaviors, mainly upper body movements and facial expressions. We will use this android to answer the questions of what exactly human presence is, whether human presence can be transmitted to remote locations, and whether androids can surpass humans through experimentation.

Specifications

• Height: 50cm

• Width: 25cm

• Actuator: 16 pneumatic actuators

• Power supply: External controlling system

  • DC power supply (50W) of airflow control valves for pneumatic actuators

  • Air compressor for pneumatic actuators(100V，1000W)

• Computer: No computational processing system inside the robot

• Software: Teleoperation systems

• DOF: 16 in total

• Structure and material: 

  • Head: Plastic

  • Skeleton: Metal

  • Skin: Sillicon

A natural conversation with a robot depends on the ability of the robots to express themselves. In order to improve the ability of the robot to express themselves, a robot with a OLED display was build. By using OLED, the robot is able to: change its face and have multiple emotional expressions. Moreover, the robot is able to be controlled remotely. The robot use a microphone with noise reduction for having a good conversation through the remote operation. 

The conversation with a robot is often affected by the noise of the motors. Telep uses motors with low noise in order to improve the quality of communication. The robot uses a OLED display allowing the robot to change his eye design. The robot can be controlled from remote and it contains a realsense in order to detect humans who are interacting with it.

 ERICA is developed for a research platform to the autonomous conversational robot that can communicate with people by various manners such as voice, bodily gestures, facial expressions, eye contact, and touch. ERICA’s appearance is made from CG designed to have the features that the faces of beautiful people have. The voice is generated by text-to-speech technology of the highest quality. The pneumatic actuators move her body smoothly with only slight noise. The goal of the study is to realize autonomous conversational androids that can naturally interact with people and be socially involved in daily life.

Specifications

• ロボット本体

  • 身長  １６６センチメートル（立位時）

  • 自由度 頭部、首、両腕、腰に合計４４ヵ所

  • アクチュエーター 空気圧アクチュエーター

  • 音声合成 ＶｏｉｃｅＴｅｘｔ

  • センサー ＣＭＯＳカメラ２個（左右眼球）、マイクロフォン２個（左右外耳）

  • 皮膚素材 シリコン樹脂

  • 頭髪素材 人毛鬘

  • ＣＰＵ 外部ＰＣ（Ｗｉｎｄｏｗｓ、Ｌｉｎｕｘなど）による制御

  • 電源 空気圧レギュレーター用に外部電源（ＡＣ２４Ｖ）

  • 周辺機器 エアーコンプレッサー（ＡＣ１００Ｖ）、制御用ＰＣ多数

• マルチモーダル認識システム

本体の周囲に配置した複数の距離画像センサー注１０），１６チャンネルマイクロフォンアレイ，ＣＭＯＳカメラにより，人の位置，人の頭部動作，人の表情，発話者の位置，発話音声を認識する．

 Due to the difficulties in automatic speech recognitions, a robot is hard to continue a coherent conversation with a user. In this study, we focus on a new approach which is to coordinate multiple robots in a conversation to avoid conversational collapse caused by such recognition failures. Through lab-experiments and field trials, we revealed that pre-scheduled turn-taking behavior between multiple robots makes an interlocutor feel like a conversation is coherent regardless of defective recognition results. We are trying to apply this cooperative use of multiple robots to the information presentation systems in education, therapy and advertisement.

Specifications

• ロボット本体

  • 身長  ３０センチメートル

  • 体重 ９３８グラム

  • 自由度 首部３、眼球部３、瞼部１、口部１、腕部２×２、腰部２の合計１４自由度を用いた視線や表情、ジェスチャーの表出

  • アクチュエーター サーボモーター

  • 音声合成 ＡＩＴａｌｋ（日本語）、ＶｏｉｃｅＴｅｘｔ（英語）

  • その他の出力モダリティ スピーカー（胸部）、ＬＥＤ（両頬、胸部）

  • センサー ＣＭＯＳカメラ（額部）、マイクロフォン（胸部）

  • 制御システム 体内のＲａｓｐｂｅｒｒｙＰＩ２／Ｅｄｉｓｏｎおよび外部ＰＣ（Ｗｉｎｄｏｗｓ、Ｌｉｎｕｘなど）による制御

  • 電源 外部電源（ＡＣ１００Ｖ）

• マルチロボット対話システム

本体付近に配置した，インテリジェントマイク（方向別分離効能を持った音声認識に適したマイクロフォン），音声認識ソフトウェア，距離画像センサーにより，人の頭部位置，発話音声を認識し，複数台のロボットを同期して操作する．

"ibuki" is a child-like android equipped with a moving unit. By acting with the human, having a conversation together and consequently sharing their experience, this robot is expected to become a conversational robot which is able to construct a deeper relationship with the human. With regards to the feasibility and the safety aspects, a set of wheels is adopted as its moving unit. The unit includes a pair of eccentricity wheels for horizontal body motion and a ball screw driven actuator for vertical body motion. This replicates the movement of a human's center of gravity position on the android robot and expresses a human-like movement even with the wheels. Also, having 47 degrees of freedom enables it to have various emotional expressions such as gestures and hand signs, in addition to different facial expressions. 

Specifications

• ロボット本体

  • 身長  １２０センチメートル（立位姿勢、１０歳程度の子供相当）

  • 体重 約３７キログラム（バッテリーを含む）

  • 自由度 ４７ヵ所（頭部：１５ヵ所、首：３ヵ所、腰：３ヵ所、腕：６ヵ所×２、手：５ヵ所×２、移動機構：４ヵ所（左右独立駆動車輪＋胴体上下動＋ステアリング）

  • 電動化によるスタンドアローンシステム注１１）

  • アクチュエーター 減速機付電気モーター（静音、低減速比、バックドライバブル）

  • センサー ＣＭＯＳカメラ２個（左右の眼球に１個ずつ）、２次元レーザー距離センサー、エンコーダーと電流センサーの組み合わせによるトルク推定

  • 高密度実装モータードライブユニット：電流センサーによるトルク制御

  • 皮膚素材 高柔軟シリコン樹脂

  • 構造材料 繊維強化樹脂、カーボン素材による軽量化

  • 電源 内蔵バッテリー（５．３Ａｈ、２５．２Ｖ）×４

• 人の歩行時の全身の揺動を模擬する移動機構

左右の偏心車輪と上下直動機構を組み合わせ，人の歩行時の下半身の揺動を車輪駆動ロボットで模擬する．さらに，腰部の３軸の能動関節により人の上半身の揺動を模擬する．

• スタンドアローンシステムとネットワークシステムの統合

内蔵小型コンピューターによる自律動作およびＲＯＳを用いた外部高性能計算機とのシームレスな連携

 For this research project, we use “Geminoids”, androids built to very closely resemble specific human “models”, as a platform for research toward understanding humans; our goal is to apply methods from engineering, cognitive science, and neuroscience to investigate various research topics. In addition, using a teleoperation system, we explore not just how people conversing with the robot are affected, but also how the robot’s operator is affected. In this research, we developed Geminoid HI series, modeled on Prof. Ishiguro, and Geminoid F, an android closely resembling a specific female model. Currently, we are investigating the capability of such an android to socially influence people.

Specifications

• 高さ: 50cm

• 横幅: 25cm

• アクチュエータ: 16の空気アクチュエータ

• 電源: 外部制御システム

  • 空気アクチュエータを動かすためのエアフロー制御バルブを動かすDC電源(50W)

  • 空気アクチュエータを動かすためのコンプレッサー(100V，1000W)

• コンピューティング: ロボット内部に処理システムはない

• ソフトウェア: 遠隔操作するためのシステム

• 自由度: 合計16

• 構造と材料: 

  • 頭部：プラスチック

  • 骨格：金属 

  • 皮膚：シリコン

 For this research project, we use “Geminoids”, androids built to very closely resemble specific human “models”, as a platform for research toward understanding humans; our goal is to apply methods from engineering, cognitive science, and neuroscience to investigate various research topics. In addition, using a teleoperation system, we explore not just how people conversing with the robot are affected, but also how the robot’s operator is affected. In this research, we developed Geminoid HI series, modeled on Prof. Ishiguro, and Geminoid F, an android closely resembling a specific female model. Currently, we are investigating the capability of such an android to socially influence people.

Specifications

• 高さ: 140cm(椅子に座っている状態)，180ｃｍ(立っている状態)

• 横幅: 100cm(床センサーパネル含む)

• アクチュエータ: 16の空気アクチュエータ

• 電源: 外部制御システム

  • 空気アクチュエータを動かすためのエアフロー制御バルブを動かすDC電源(50W)

  • 空気アクチュエータを動かすためのコンプレッサー(100V-240V，400W)

• コンピューティング: ロボット内部に処理システムはない

• ソフトウェア: 遠隔操作するためのシステム

• 自由度: 合計16 (頭部: 12, 胴体: 4)

• 構造と材料: 

  • 頭部：プラスチック

  • 骨格：金属 

  • 形：ウレタン 

  • 皮膚：シリコン

 For this research project, we use “Geminoids”, androids built to very closely resemble specific human “models”, as a platform for research toward understanding humans; our goal is to apply methods from engineering, cognitive science, and neuroscience to investigate various research topics. In addition, using a teleoperation system, we explore not just how people conversing with the robot are affected, but also how the robot’s operator is affected. In this research, we developed Geminoid HI series, modeled on Prof. Ishiguro, and Geminoid F, an android closely resembling a specific female model. Currently, we are investigating the capability of such an android to socially influence people.

Specifications

• • 高さ: 165cm (座高95cm)

  • 横幅: 38cm

  • センサ: 床センサは含まない

  • アクチュエータ: 12の空気アクチュエータ

  • 電源: ジェミノイドHI-2と同様

  • コンピューティング: ジェミノイドHI-2と同様

  • ソフトウェア: ジェミノイドHI-2と同様

  • 自由度: 合計12(頭部: 11, 胴体: 1)

  • 構造と材料: ジェミノイドHI-2と同様

 Telenoid is a teleoperated android covered with soft vinyl that can transmit a remote operator's physical movement and voice. Through the Internet, it can be teleoperated from anywhere in the world with a laptop PC and a sensor headset. By hugging it during communication, users feel as if they are facing the remote operator and talking with him or her. Its minimal human design allows it to resemble any person. From previous research on Geminoid, it can be said that Telenoid has the minimum number of channels to enable human-to-human communication.

 Hugvie is a huggable communication medium that facilitates intimate telecommunication. It is a human-shaped, soft cushion filled with polystyrene microbeads and covered with stretch fiber. It resembles person opening its arms for a hug and enables us to bring the hug experience into telecommunication by putting a hands-free mobile phone inside a pocket of its “head”. Thanks to its soft texture, humanlike shape, and conversation on the phone, people feel they are actually hugging a distant conversation partner and have comfort and affinity toward the partner.

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Specifications

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