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Humanoid class robots must have sufficient dexterity to assist people and work in an environment designed for human comfort and productivity. This dexterity, in particular the ability to use tools, requires a cognitive unde rstanding of self and the world that exceeds contemporary robotics. Our hypothesis is that the sense-think-act paradigm that h...
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... within this size envelope guarantees that the Robonaut Hand will be able to fit into all the required places. The Robonaut Hand shown in Figure 5 also reproduces many of the necessary grasps needed for interacting with EVA inter- faces. Joint travel for the wrist pitch and yaw is designed to meet or exceed the human hand in a pressurized glove. ...
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... not required for the simplest teleoperated case, these other functions can be running, for example observing and tracking humans in the robot's proximity (vision), or keeping track of tools and their locations (SES, Sensori Ego Sphere). In section 4, Figure 15 shows an example of a human working with Robonaut in this teleoperated mode. ...
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... resulting robustness across a population of Ro- bonauts allows for learning and instruction to be shared between robots on earth and in space. In section 4, Figure 15 shows an example of a human working with Ro- bonaut in this mode. The next two cases involve task level learning, where either a remote or adjacent human can instruct the robot as it acquires new autonomous behaviors. ...
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... have been completed that exercise all four of the adapted architec- ture cases presented in section 3.1. The simplest case of teleoperat ion is shown in Figure 15, where the robot is working under direct human control. This case has information flowing between the remote human and robot, but no learning by the machine. ...
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... have been completed that exercise all four of the adapted architec- ture cases presented in section 3.1. The simplest case of teleoperat ion is shown in Figure 15, where the robot is working under direct human control. This case has information flowing between the remote human and robot, but no learning by the machine. Fig. 15. Robonaut working with a remote and adjacent human, with no task level learning. The right photo has the robot following a previously taught task sequence, initiated by voice reflex, to visually find and point at the requested tool held by the human team ...
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Citations
The primate order of animals is investigated for clues in the design of humanoid robots. The pursuit is directed with a theory that kinematics, musculature, perception, and cognition can be optimized for specific tasks by varying the proportions of limbs, and in particular, the points of branching in kinematic trees such as the primate skeleton. Called the Bifurcated Chain Hypothesis, the theory is that the branching proportions found in humans may be superior to other animals and primates for the tasks of dexterous manipulation and other human specialties. The primate taxa are defined, contemporary primate evolution hypotheses are critiqued, and variations within the order are noted. The kinematic branching points of the torso, limbs and fingers are studied for differences in proportions across the order, and associated with family and genus capabilities and behaviors. The human configuration of a long waist, long neck, and short arms is graded using a kinematic workspace analysis and a set of design axioms for mobile manipulation robots. It scores well. The re-emergence of the human waist, seen in early prosimians and monkeys for arboreal balance, but lost in the terrestrial pongidae, is postulated as benefiting human dexterity. The human combination of an articulated waist and neck will be shown to enable the use of smaller arms, achieving greater regions of workspace dexterity than the larger limbs of gorillas and other hominoidea.
