Figure 4: The leg and hand of ELVIS 3.5 Audio Orientation not yet autonomous. It is so far controlled by remote The robot has two microphones in the head for computers and has a remote power supply. The aim is hearing. At present, these are mainly used for to have the humanoid controlled by a handheld PC focus of attention. A GP system is used to evolve a running NT or possibly LINUX. Space is also reserved function or program, which can give the direction of a for battery packs. The total weight of the autonomous sound. Future experiments include separation of sound version of ELVIS is expected to be less than 5 kg. sources and recognition of commands. 5 Future Work 3.6 Manipulation The final goal of our research project is to build a fingers ELVIS has arms and hands with three each human-sized robot based on a plastic human including a highly maneuverable thumb. The fingers skeleton to ensure geometric authenticity, see are equipped with touch sensors reacting to pressure Figure 5. The software architecture of ELVIS will be from 10 g up to tens of kilograms. The manipulation used for the larger robots with small adjustments. experiments take place in the symbolic layer and The main objective of the skeleton based robot is a integrate movement, touch sensors and vision to very light humanoid (60 KgÑ with less sophisticated isolate an object and pick it up with one hand and then hardware compensated for by a more sophisticated moving it to the other hand. adaptive control architecture. 6 Summary and Conclusions 4 Current Status The ELVIS humanoid robot is a very complex both as far as hardware and software are ELVIS has been now been assembled, and is complete with the exception of CCD-cameras and It is unique in many ways: size, weight, of freedom, possibility of autonomy and fingers. The software architecture has been evaluated control method. on offline experiments. Initial experiments in simulations confirm the feasibility of the method, but major evaluations using the robot are still under way. ELVIS is
Figure 4: The leg and hand of ELVIS 3.5 Audio Orientation The robot has two microphones in the head for hearing. At present, these are mainly used for focus of attention. A GP system is used to evolve a function or program, which can give the direction of a sound. Future experiments include separation of sound sources and recognition of commands. not yet autonomous. It is so far controlled by remote computers and has a remote power supply. The aim is to have the humanoid controlled by a handheld PC running NT or possibly LINUX. Space is also reserved for battery packs. The total weight of the autonomous version of ELVIS is expected to be less than 5 kg. 3.6 Manipulation ELVIS has arms and hands with three fingers each including a highly maneuverable thumb. The fingers are equipped with touch sensors reacting to pressure from 10 g up to tens of kilograms. The manipulation experiments take place in the symbolic layer and integrate movement, touch sensors and vision to isolate an object and pick it up with one hand and then moving it to the other hand. 5 Future Work The final goal of our research project is to build a human-sized robot based on a plastic human skeleton to ensure geometric authenticity, see Figure 5. The software architecture of ELVIS will be used for the larger robots with small adjustments. The main objective of the skeleton based robot is a very light humanoid (60 KgÑ with less sophisticated hardware compensated for by a more sophisticated adaptive control architecture. 4 Current Status ELVIS has been now been assembled, and is complete with the exception of CCD-cameras and fingers. The software architecture has been evaluated on offline experiments. Initial experiments in simulations confirm the feasibility of the method, but major evaluations using the robot are still under way. ELVIS is 6 Summary and Conclusions The ELVIS humanoid robot is a very complex both as far as hardware and software are It is unique in many ways: size, weight, of freedom, possibility of autonomy and control method.
89375741-Humanoid-Robots.docx