Sony Dream Robot (Sdr)

8/8/2019 Sony Dream Robot (Sdr)

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SONY DREAM ROBOT (SDR)SONY DREAM ROBOT (SDR)


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IntroductionIntroduction

y Movies


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Basic Configuration of SDRBasic Configuration of SDR

SDR-3X

50 cm height, 5 kg weight,

24 DOF

SDR-4X

58 cm height, 6.5 kg weight,

28 DOF

Each leg has 6 DOF, trunk has 2 DOF, each arm

has 5 DOF and the neck has 4 DOF.


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Key DevicesKey Devices

SDRs Typical Embedded Devices

Robot Actuator ISA (Intelligent Servo Actuator)


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RealReal--Time Integrated AdaptiveTime Integrated Adaptive

Motion ControlMotion Control Real-Time Whole Body Stabilizing Motion

Control Asynchronously generated

obstacle avoidance and

alteration ofthe upper-

body motion in walking.

The function includes a real-

time solver for the ZMP

equation and a gait patterngenerator.


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RealReal--Time Terrain AdaptiveTime Terrain Adaptive

Motion ControlMotion Control Usingtheinternalsensorssuchas forcesensors, postureoftherobotandinclinationoftheterraincouldbecalculatedanddetected.The Real-timeTerrain

Adaptive Motion Controlhasbeenrealizedbycooperativecontrolofsuchsensor

basedmotioncontrolandmechanicallyadaptivecapability.

Ability to walk on inclined and seesaw terrain.Ability to walk on inclined and seesaw terrain.


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External Force AdaptiveExternal Force Adaptive

Motion ControlMotion Control Inclinationoftherobotcasedbyexternal forceand

momentcouldbealsodetectedusingtheinternalsensorssuchas forcesensors.

To prevent falling overunderexternal forces, SDR-4X performs footfallandstep backand forthtomaintainitsstable posture.

External force adaptive motionExternal force adaptive motion

performance by intercepting bipedperformance by intercepting biped

walkingwalking


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RealReal--time Adaptive Falling overtime Adaptive Falling over

Motion ControlMotion Control SDR-4Xdetectstheadaptivelimitationoftheterrainadaptive

motioncontrolandtheexternal forceadaptivemotioncontrol,restabilization ofthe wholebodymotioncontrolissuspendedandthecontrolisswitchedtothe Real-time Adaptive FallingoverMotion Control.

Whenthesystemdetectsdirectionof fallingover,therobotiscontrolledtogetintothe pose whichcanadaptandsecureagainstcontacting withenvironment.

Toreducetheimpactofthegroundcontactthecooperativemotioncontrol withthe performanceofISAsback-drivabilityenablescompliantcontrolofthe joints

Falling Backward Motion ControlFalling Backward Motion Control


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Lifting up Motion ControlLifting up Motion Control

A grip withatouchsensorisutilizedonthebackof SDR-4X.

Liftingup of SDR-4Xisdetectedbythissensorofthegripandthe forcesensorsonthe feet.

OnceitisdetectedthecontrolisswitchedtotheLiftingupMotion Controlandthe jointsofthelowerlimbsandthebotharmsarecontrolledtomakecompliant.

Lifting up Motion ControlLifting up Motion Control


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SDR Motion CreatorSDR Motion Creator

SDR Motion Creatorincludesthemotioncreatingandeditinguserinterfaces,theReal-time Whole Body

Stabilizing MotionControlmodule,thesamemoduleappliedto SDR-4X.

Thedesignedmotionscanbedeterminedto

performby 3Dbrowsing function.

SDR Motion Creatorhasacapabilitytorealizeamotionandmusicsynchronized

creationusingthemotioncreatin track


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SDR Motion PerformancesSDR Motion Performances

High-tempo Dance Performance

Dance Performance by SDRDance Performance by SDR--3X3X Dance Performance by SDRDance Performance by SDR--4X4X

Using the SDR Motion Creator the dynamic, table and music synchronized

performance based on 4-unit formation has been realized.


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SDR Motion PerformancesSDR Motion Performances

A Cappella Chorus Performance

* Based on the speech synthesis the emotionally expressive speech and the

production ofa singing voice with vibratos have been developed.

* By cooperative control ofthis function with the Real-time Whole Body

Stabilizing Motion Control enables speech and singing performances

synchronized with whole body motion.

Sony Dream Robot (Sdr)

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