SPIE Press Book

Biologically Inspired Intelligent Robots

The multidisciplinary issues involved in the development of biologically inspired intelligent robots include materials, actuators, sensors, structures, functionality, control, intelligence, and autonomy. This book reviews various aspects ranging from the biological model to the vision for the future.

Preface / xiii
Chapter 1 Biologically-Inspired Intelligent Robots / 1 Cynthia Breazeal, Yoseph Bar-Cohen: 1.1 Introduction / 2; 1.1.1 Historical precursors / 2; 1.1.2 Modern perspectives / 4; 1.2 Nature as a Model for Inspiration / 6; 1.3 The Process of Biomimetic Design / 10; 1.4 Themes of Biomimetic Design / 11; 1.4.1 Biomimetic structures and actuators / 11; 1.4.2 Believable and realistic animation / 13; 1.4.3 Human augmented technologies / 14; 1.4.4 Technologically enhanced humans / 15; 1.4.5 Biomimetic robots / 17; 1.4.6 Applications / 20; 1.5 Summary and Outlook / 21; 1.6 Acknowledgement / 22; References / 22
Chapter 2 Biological Inspiration for Muscle Like Actuators of Robots / 25 Kenneth Meijer, Yoseph Bar-Cohen, Robert J. Full: 2.1 Biological Inspiration / 26; 2.2 Muscle: A Prime Mover / 27; 2.3 Muscle Metrics / 28; 2.3.1 Force, strain and speed / 29; 2.3.2 Capacity to do work / 30; 2.3.3 Realized performance: the workloop technique / 31; 2.4 Electroactive Polymers as Artificial Muscles / 31; 2.4.1 Historical review and currently available active polymers / 32; 2.4.2 Comparison between electroactive polymer actuators and biological muscle / 33; 2.5 Morphology: Tuned To The Task / 35; 2.5.1 Reducing weight / 35; 2.5.2 Trading force for distance and speed / 37; 2.5.3 Elastic mechanisms / 38; 2.5.4 Controlling a multisegmented body with linear actuators / 39; 2.6 Concluding Remarks / 40; References / 41
Chapter 3 Biomimetic Animated Creatures / 47 Bruce Blumberg: 3.1 Introduction: A Lesson From Dogs and Cats / 48; 3.2 The Intentional Stance / 50; 3.2.1 Desires / 50; 3.2.2 Beliefs / 51; 3.2.3 Actions / 52; 3.3 Principles of Expressive Animation / 53; 3.3.1 Squash and stretch / 53; 3.3.2 Anticipation / 54; 3.3.3 Follow-through / 55; 3.3.4 Secondary action / 56; 3.3.5 Timing / 56; 3.3.6 Exaggeration / 57; 3.3.7 Slow in and slow out / 57; 3.3.8 Staging / 57; 3.3.9 Convey one emotional state or thought at a time / 58; 3.3.10 Summary / 59; 3.4 Borrowing from Nature: Biomimetic Techniques for Animation / 59; 3.4.1 Procedural / 60; 3.4.2 Inverse kinematics / 60; 3.4.3 Perlin noise / 61; 3.4.4 Sampled motion / 62; 3.4.5 Verbs, adverbs, and pose graphs / 63; 3.5 Toward an Inner-life: Low-level Intelligence for Low-level Animation / 65; 3.6 State of the Art: Hard Problems and Future Directions / 68; 3.7 Conclusions / 68; References / 69
CHAPTER 4 Haptic Devices for Virtual Reality, Telepresence and Human-Assistive Robotics / 73 Allen Fisch, Constantinos Mavroidis, Juan Melli-Huber, Yoseph Bar-Cohen: 4.1 Introduction / 74; 4.2 Haptic Systems / 76; 4.3 Current Devices / 78; 4.3.1 Exoskeletons and stationary devices / 79; 4.3.2 Gloves and wearable devices / 81; 4.3.3 Point-source and specific-task devices / 83; 4.3.4 Locomotion interfaces and full body-force feedback / 85; 4.3.5 Force feedback input devices / 86; 4.3.6 Tactile displays / 87; 4.4 Haptic Systems Using Electro-Rheological Fluids / 88; 4.4.1 Electro-rheological fluids and haptics / 88; 4.4.2 A MEMICA exoskeleton with on-demand controlled resistivity; 4.5 Conclusion and Future Work / 97; 4.6 Acknowledgments / 98; References / 98
Chapter 5 Cyborg Technology - Biomimetic Orthotic and Prosthetic Technology / 103 Hugh Herr, Grahm Paul Whiteley, Dudley Childress: 5.1 Introduction / 104; 5.2 A Brief History of Orthotic and Prosthetic Technological Development / 104; 5.3 Orthotic and Prosthetic Systems: State of the Art / 106; 5.3.1 Upper extremity prosthetic systems / 106; 5.3.2 Lower extremity prosthetic systems / 108; 5.3.3 Lower and upper extremity orthotic systems / 109; 5.4 New Horizons for Orthotic and Prosthetic Technology: Merging Body and Machine / 109; 5.4.1 Biomimetic structural design / 109; 5.4.2 Biomimetic actuation / 124; 5.4.3 Biomimetic control / 127; 5.5 Concluding Remarks / 138; References / 139
Chapter 6 Character Creation - Structural Elements of Biomimetic Robots / 145 Richard Landon: 6.1 Introduction / 146; 6.2 Concept and Development / 147; 6.2.1 Rendering / 149; 6.2.2 Maquette / 149; 6.2.3 Construction plan / 149; 6.3 Sculpture / 150; 6.3.1 Sculpting stand / 150; 6.3.2 Sculptural detail and finish / 151; 6.4 Lab Work / 152; 6.4.1 Mold making preparation / 153; 6.4.3 Mold making / 154; 6.4.4 Coring / 157; 6.5 Mechanical Design / 159; 6.5.1 Mechanical structure fabrication and assembly / 160; 6.5.2 Power systems / 161; 6.5.3 Individual systems design / 163; 6.6 Telemetry / 165; 6.6.1 The graphic user interface / 167; 6.6.2 Figure to telemetry connection / 169; 6.7 Project Completion / 170; 6.7.1 Skin gluedown / 170; 6.7.2 Final test and adjust / 170; 6.8 Portrayal of Life / 171; 6.9 Summary and Conclusion / 175; 6.10 Acknowledgements / 176; References / 178
Chapter 7 Functionality Elements of Biomimetic Robots - Sensors, Actuators and Power Supplies / 179 Gill A. Pratt: 7.1 Introduction / 180; 7.2 Sensors / 180; 7.2.1 Sight / 180; 7.2.2 Infrared sensing / 182; 7.2.3 Distance measurement / 182; 7.2.4 Touch and pressure / 183; 7.2.5 Proprioception / 183; 7.2.6 Smell and taste / 184; 7.2.7 Electric field / 184; 7.2.8 Fluid flow / 185; 7.2.9 Magnetic Field / 185; 7.2.10 Sound / 186; 7.2.11 Acceleration, gravity, and angular velocity / 186; 7.3 Actuators / 188; 7.3.1 Sound / 188; 7.3.2 Light emission and reflectance / 188; 7.3.3 Mechanical force and motion / 188; 7.4 Actuator Technologies / 192; 7.4.1 Pneumatics / 192; 7.4.2 Hydraulic actuators / 195; 7.4.3 Electrical actuators / 195; 7.4.4 Electromagnetic Motors / 195; 7.4.6 Artificial muscles / 200; 7.5 Power Supplies / 201; 7.5.1 Reference energy densities / 201; 7.5.2 Batteries / 201; 7.5.3 Fuel cells / 202; 7.5.4 Hydrogen peroxide / 202; 7.6 Summary / 202; 7.7 References / 202
Chapter 8 Biomimetic Robot Control / 211 Dan Paluska, Maja J. Mataric, Jerry Pratt: 8.1 Architectures for Robot Control / 212; 8.1.1 Reactive control / 212; 8.1.2 Deliberative control / 213; 8.1.3 Hybrid control / 213; 8.1.4 Behavior-based control / 214; 8.1.5 Design and coordination of behaviors / 215; 8.1.6 A brief comparison of architectures / 216; 8.1.7 Adaptation and learning / 217; 8.1.8 Demonstrations and applications / 218; 8.1.9 Summary / 220; 8.2 Humaniod Upper-Body Control / 220; 8.2.1 Motivation / 220; 8.2.2 A biomimetic approach / 221; 8.2.3 Related work on imitation / 222; 8.2.4 Choosing the set of primitives / 223; 8.2.5 Automated derivation of primitives / 224; 8.2.6 Visual classification into primitives / 226; 8.2.7 Some examples of using motor primitives / 227; 8.2.8 Summary / 227; 8.3 Biped Walking Control / 228; 8.3.1 The bipedal walking problem / 229; 8.3.2 Modulated playback / 231; 8.3.3 Mathematical synthesis / 234; 8.3.4 Passive dynamics / 237; 8.3.5 Physics-based heuristics / 241; 8.3.6 Summary / 243; References / 244
Chapter 9 Cognitive Modeling for Biomimetic Robots / 253 Cynthia Breazeal: 9.1 Introduction / 254; 9.2 Visual Attention and Guided Search / 254; 9.3 A Robotic Implementation of Attention / 256; 9.3.1 Bottom-up contribution: feature maps / 257; 9.3.2 Computing the attention map / 258; 9.3.3 Top-down contribution: task-based influences / 258; 9.3.4 Habituation effects / 259; 9.3.5 Attention drives eye movement / 259; 9.3.6 Serial attentive processing / 259; 9.4 Animal Motivation and Behavior: A View From Ethology / 260; 9.4.1 Perceptual contributions / 261; 9.4.2 Motivational contributions / 262; 9.4.3 Behavior groups and hierarchies / 262; 9.5 Robotic Implementation of Behavior / 264; 9.5.1 Building blocks of behavior / 264; 9.5.2 Perceptual contributions: modeling releasers / 266; 9.5.3 Internal contributions: modeling motivation / 266; 9.5.4 The organization of behavior / 269; 9.6 Models of Emotion: A View from Evolution / 272; 9.6.1 Theory of basic emotions / 272; 9.7 Robotic Implementation of Basic Emotions / 274; 9.7.2 Affective appraisal and emotive elicitors / 274; 9.7.3 Emotion activation and arbitration / 276; 9.7.4 Emotive responses / 278; 9.8 Summary / 280; References / 280
Chapter 10 Biologically Inspired Robotic Applications / 285 David Hanson, Daniela Rus, Steven Canvin, Gernot Schmierer: 10.1 Introduction / 286; 10.2 Biology - A MOdel for Designers of Biomimetic Applications / 288; 10.3 Building-Block Functions of Biomimetic Robots / 290; 10.3.1 Movement and mechanical biomimetics / 290; 10.3.2 Biomimetics materials and properties / 301; 10.3.3 Intelligent biomimetics / 302; 10.3.4 Machine vision applications / 303; 10.3.5 Machine emotions applications / 304; 10.3.6 Synthetic language applications / 305; 10.3.7 Reverse engineering the human brain / 307; 10.4 Self-reconfiguring Robots / 308; 10.4.1 Robots that morph / 308; 10.4.2 Hardware for self-reconfiguring robots / 309; 10.4.3 Capabilities of self-reconfiguring robots / 314; 10.4.4 Addressing the challenge to the technology / 316; 10.5 Robotic Smart Toys / 316; 10.5.1 Current biomimetic toys / 317; 10.4.2 The shape of toys to come / 331; 10.6 Entertainment Robotics-A Hotbed for Expressive Robotics / 332; 10.6.1 Recent animatronics projects / 333; 10.6.2 Trends in the fiels of animatronics / 338; 10.7 Other Biomimetic Applications / 339; 10.7.1 Medicine and caretaking / 339; 10.7.2 Fishery exploration / 341; 10.7.3 Artificial life and computer generated imagery / 341; 10.7.4Service Robots / 342; 10.8 Concluding Words and Outlook for Future Applications / 342; 10.9 Acknowledgements / 344; References / 344
Chapter 11 Outlook for the Intelligent Biomimetic Robots Technology / 351 Yoseph Bar-Cohen, Cynthia Breazeal: 11.1 Introduction / 352; 11.2 Biology as an Inspiring Model / 353; 11.2.1 Desired biomimetic characteristics / 354; 11.2.2 Inspired by biology - design concepts for reconfigurable robots / 357; 11.2.3 Potentials and challenges to using artificial muscles / 358; 11.2.4 Operation as individual and social robots / 360; 11.3 Turning Science Fiction into Science Reality / 361; 11.4 Challenges to Developing Biomimetic Intelligent Robots / 366; 11.4.1 Emulating natural muscles / 367; 11.4.2 Creation of animated creatures / 368; 11.4.3 Haptic interfaces / 369; 11.4.4 Cyborg technology / 371; 11.4.5 Aesthetic and structural elements of robots / 371; 11.4.6 Component technologies of robots / 372; 11.4.7 Low-level control of biomimetic robots / 373; 11.4.8 Cognitive modeling of robots / 373; 11.4.9 Future biomimetic robots / 374; 11.5 Concluding Words / 376; 11.6 Acknowledgements / 378; References 378
Index / 381
Author and Editor Biographies / 387