ASIMO机器人PPT学习教案

1、会计学1ASIMO机器人机器人第1页/共29页 仿人机器人仿人机器人第2页/共29页第3页/共29页第4页/共29页Research Background 早稻田大学仿人机器人研究产品集早稻田大学仿人机器人研究产品集第5页/共29页 日本本田公司日本本田公司ASIMO之演进之演进第6页/共29页尺寸 长度130cm宽度45cm深度 34cm重量 48kg（比上一代减轻6kg） 性能最大时速时速9km（上一代时速6km） 活动时间 40分（步行时） 通过自动充电可实现连续活动 关节自由度头部 3 总计 57个关节（较上一代增加了23个） 腕部 72 手部 122 腰部 2 腿部 62 第7页/共

2、29页自由度（类似人类的关节）自由度（类似人类的关节）头部 颈关节(U/D，RT) *13 DOF臂 肩关节(F/B，U/D，RT) 肘关节(F/B) 腕关节(RT)3 DOF1 DOF3 DOF 7 DOF2手臂 = 14 DOF腰 弯1 DOF手 拇指1 DOF 四指1 DOF 2 DOF2手 = 4 DOF腿 髋关节(F/B，L/R，RT) 膝关节(F/B) 踝关节(F/B，L/R)3 DOF1 DOF2 DOF 6 DOF2腿 = 12 DOF第8页/共29页第9页/共29页第10页/共29页以时速以时速9km奔跑奔跑 ，较之上一代的6km，奔跑速度显著提升。双脚跳跃悬空双脚跳跃悬空

3、，全新控制技术，让腿部力量加大，活动范围扩大。在崎岖路面上行走在崎岖路面上行走 ，敏捷性大幅提升在崎岖路面上仍可保持稳定姿势顺利行走，能够灵活应对外部的各种状况。单脚跳跃行走单脚跳跃行走 ，得益于全新控制技术，可进行单脚跳跃行走。第11页/共29页 Running at 9 km per hour, compared with the previous generation of 6 km, running speed significantly increased.Jump your feet dangling, a new control technology, let the leg s

4、trength increasing, expanding activity.Walking on uneven terrain, agility of substantial increase in the rugged road can still be stable smooth walking posture, flexibility to cope with external conditionsJump on one foot walk, thanks to the new control technology, can be carried out walking one foo

5、t jump.第12页/共29页打出手语打出手语 ，高性能小型多指手，在手掌、五指中分别内置接触传感器与压力传感器后，可对各节手指进行独立操控，从而完成需复杂手指运动才可实现的手语表达。踢足球踢足球，全新控制技术，让腿部力量加大，活动范围扩大，并能自由变换着位置。自在步行自在步行，ASIMO可以在平坦的地面上顺畅行走。可调整步伐来保持上半身的平衡，还可旋回、8字行走 上下台阶上下台阶，ASIMO可以在平坦的地面上顺畅行走。可调整步伐来保持上半身的平衡，还可旋回、8字行走。第13页/共29页Fighting, high-performance small number refers to the

6、 hand, in the palm, fingers, respectively, the built-in contact sensor and pressure sensor, can be an independent control of each finger, it should take to complete complex finger movement to sign language expression can be realized.Playing football, a new control technology, let the leg strength in

7、crease, they extended their presence to and be able to free transform the position.Comfortable walking, ASIMO can walk on the flat ground smooth. Pace can be adjusted to maintain the balance of the upper part of the body, still can walk cycle, a figure 8Up and down the steps, ASIMO can walk on the f

8、lat ground smooth. Pace can be adjusted to maintain the balance of the upper part of the body, still can walk cycle, a figure 8.第14页/共29页自动修正位置自动修正位置，ASIMO可自行识别步行路线上的标示，根据标示一边走一边。直线行走直线行走，ASIMO在双脚均离地时可积极地控制姿势，保持直线行走。2005年Honda发表的新技术使ASIMO的最高时速提高至6km。旋回奔跑旋回奔跑，ASIMO可自行控制姿势，保持稳定的旋回奔跑或8字形走动。全身协调运动全身协调运动

9、，ASIMO可配合步行姿势来控制手腕的动作，还会跳舞。2005年末Honda发表的新技术提高了ASIMO的全身协调功能，在提高全身平衡性的同时实现动作的柔软和迅速。第15页/共29页Correct position, ASIMO can identify the symbols on walking routes, as they walked along, according to mark.Walk straight, ASIMO in both feet off the ground when can actively control the position, keep walking

10、 straight. Honda 2005 published by the new technology to raise the top speed of ASIMO to 6 km.Running cycle, ASIMO can control the posture, figure 8 walking or running is stable cycle.Whole body motion coordination, ASIMO can cooperate walking posture to control the movement of the wrist, also can d

11、ance. Published in late 2005, Hondas new technology to improve the function of ASIMO body coordination, while improve balance to the body soft and quickly implement action.第16页/共29页拧瓶盖倒水拧瓶盖倒水 ，手掌、五指中分别内置接触传感器与压力传感器，各节手指独立操控抓握。搬运托盘搬运托盘，运用视觉传感器和手腕力度传感器，ASIMO可根据实际情况交接实物。比如，ASIMO可通过手腕接触放置托盘的桌子，从而判断高度和负荷

12、大小。另外，还可协调全身动作来放置托盘，无论桌子高低，都可灵活应对。推车前进推车前进，运用手腕的传感器，ASIMO可调整左右手腕的推力，保持与推车之间的合适距离，一边前进一边推车。当推车遇到障碍时，ASIMO还会自行减速并改变行进方向，直线或者转弯推车。第17页/共29页Screw cap water, palm, fingers built-in contact sensor and pressure sensor, respectively, in the independent manipulation of grasping each finger.Carrying trays, us

13、ing visual sensor and wrist force sensor, ASIMO handover material according to actual situation. ASIMO can be contacted by the wrist, for example, put the tray table, so as to determine the height and load. In addition, can also coordinate the whole body movement to place the tray, regardless of the

14、 table, can be flexible to cope.Push forward, using the wrist sensor, ASIMO can be adjusted around the wrist of thrust, keep with the cart, the appropriate distance between forward and cart. When the cart encountered obstacles, ASIMO will slow down and change direction, on its own turn straight or c

15、art.第18页/共29页同时分辨多人讲话同时分辨多人讲话 ，通过视觉与听觉传感器联动辨识人的脸部与声音，可同时辨识多人的声音，而这一点即便是人类也很难做到。预测行人的行走方向，调整步伐以免发生碰撞。预测行人的行走方向，调整步伐以免发生碰撞。基于空间传感器提供的信息，可对数秒后人的行进方向进行预测。若发现与自身移动预测位s置发生冲突，将瞬间选择其他线路，确保行进时不与人相撞。识别声音和来源识别声音和来源，ASIMO可识别人的声音以及其它响动，可进行简单的会话。另外，ASIMO还可以识别声音的来源，当你叫它时，它还会把头转向你的方向，看着说话的人来交流。面部识别面部识别，检测出由头部装载的摄像机

16、提供的影像信息中的多个移动物体，能识别储存在记忆中的面部，称呼姓名、传达信息，可做向导。可识别10人左右。第19页/共29页Distinguish people talking at the same time, through the visual and auditory sensor linkage identification face and voice, at the same time identify peoples voice, and that even humans also hard to do.rediction of pedestrians walking dire

17、ction, adjustment pace in order to avoid a collision. Based on spatial information from sensors, logarithmic seconds later generations for predicting the direction. If discover clashed with their own mobile predicted bit s set, will choose other circuit, instantaneous travel to ensure that no collis

18、ion with other people.第20页/共29页Identify sources of sound and, ASIMO can recognize human voices, and other, shaking to simple conversation can be. In addition, ASIMO can identify the source of the sound, when you call it, it will turn your head to your direction, looking at the speaker to communicate

19、 。Facial recognition, to detect the image information is provided by the camera head load of multiple moving objects, recognizes the face, stored in a memory address name, convey information, to do the wizard. Can identify about 10 people.第21页/共29页识别移动物体识别移动物体，通过头部摄像头，ASIMO可辨别出多个移动体，并判断出与其的距离、方向。凭借摄

20、像头的信息，ASIMO可跟着人步行。情景和姿势的识别情景和姿势的识别，从影像信息中检测出手的位置和运动，识别姿势和动作。不仅仅可识别声音指令，也可以使别人的自然动作并作出反应。当你伸出手时，ASIMO会跟你握手。当你挥手时，ASIMO会回应挥手。认知环境认知环境，识别周围的环境，把握障碍物的位置，可以避免碰撞并绕行。人或其他移动的障碍物突然出现在面前时会停下来，离开后继续步行。2005年末Honda发表的新技术提高了各传感器的精度，使ASIMO对周围环境的认知度更高。 NewIC通信卡通信卡 ，根据IC通信卡提供的客人信息，ASIMO可判断出对方的属性和位置，判断与客人的距离，还会与擦身而过的

21、人打招呼，将客人引导至预定的场所，可根据顾客的信息进行适宜的接待和服务。 第22页/共29页Identification of moving object, through the camera head, ASIMO can identify multiple mobile body, and determine its distance and direction. With the camera information, ASIMO can follow people on foot.Scene and gesture recognition, detection from image

22、information to the location and movement, identification of gestures and movements. Not only can recognize voice commands, also can make other peoples natural movements and react. When your hand, ASIMO will shake hands with you. When you wave, wave ASIMO will respond.第23页/共29页Cognitive environment, the identification of the surrounding en