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A
Seminar report
On

Humanoid Robot
Submitted in partial fulfillment of the requirement for the award of
Degree of Mechanical

SUBMITTED

TO:

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BY:

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Preface
I have made this report file on the topic Humanoid Robot; I have tried my best to elucidate all
the relevant detail to the topic to be included in the report. While in the beginning I have tried
to give a general view about this topic.
My efforts and wholehearted co-corporation of each and everyone has ended on a successful
note. I express my sincere gratitude to ..who assisting me throughout the prepration
of this topic. I thank him for providing me the reinforcement, confidence and most importantly
the track for the topic whenever I needed it.

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Acknowledgement
I would like to thank respected Mr.. and Mr. ..for giving me such a wonderful
opportunity to expand my knowledge for my own branch and giving me guidelines to present a
seminar report. It helped me a lot to realize of what we study for.
Secondly, I would like to thank my parents who patiently helped me as i went through my work
and helped to modify and eliminate some of the irrelevant or un-necessary stuffs.
Thirdly, I would like to thank my friends who helped me to make my work more organized and
well-stacked till the end.
Next, I would thank Microsoft for developing such a wonderful tool like MS Word. It helped
my work a lot to remain error-free.
Last but clearly not the least,I would thank The Almighty for giving me strength to complete
my report on time.

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Content
Introduction
System architecture
Real-time facial gesture recognition system
The vision system
Tracking the face:
Conclusion
References

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CHAPTER 1
ROLE OF HUMANOIDS
1.1

INTRODUCTION:

The field of humanoids robotics, widely recognized as the current

challenge for robotics research, is attracting the interest of many research
groups worldwide. Important efforts have been devoted to the objective of
developing humanoids and impressive results have been produced, from
the technological point of view, especially for the problem of biped
walking.
In Japan, important humanoid projects, started in the last decade,
have been carried on by the Waseda University and by Honda Motor Co.
The Humanoid Project of the Waseda University, started in 1992, is
a joint project of industry, government and academia, aiming at developing
robots which support humans in the field of health care and industry during
their life and that share with human information and behavioral space, so
that particular attention have been posed to the problem of humancomputer interaction. Within the Humanoid Project, the Waseda University
developed three humanoid robots, as research platforms, namely Hadaly
2,Wabian and Wendy.
Impressive results have been also obtained by Honda Motor Co. Ltd
with P2 and P3, self-contained humanoid robots with two arms and two
legs, able to walk, to turn while walking, to climb up and down stairs.
These laboratories on their humanoid robots carry on studies on humanrobot interaction, on human-like movements and behavior and on brain
mechanics of human cognition and sensory-motor learning.

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Developing humanoids poses fascinating problems in the realization

of manipulation capability, which is still one of most complex problem in
robotics. For its scientific content and for its utility in the most robotics
applications, the problem of manipulation has been deeply investigated and
many results are already available, both as hands and sensors and as control
schemes.
The Hitachi Ltd. Hand has proposed an approach in designing
robotics hands with its radial space memory alloy (SMA) metal actuation
technology. The hand is characterized by a high power-to-weight ratio and
a high compactness. The Hitachi Hand uses a large number of thin SMA
wires; each finger has 0.02mm diameter SMA wires that are set around the
tube housing of the spring actuators. The SMA wire, when heated by
passing electric current through it, reacts by contracting against the force of
the spring.
The development of a robotic hand for space operations is currently
ongoing also in the Robotic Systems Technology Branch at the NASA
Johnson Space Center. The Robonaut Hand has a total of fourteen degrees
of freedom and consists of a forearm, which houses the motors and drive
electronics a two-degree of freedom wrist, and five-fingers, twelve degrees
of freedom, hand. The hand itself is divided into sections: a dextrous work
set which is used for manipulation and grasping set which allows the hand
to maintain stable grasp while manipulating or actuating a given object.
The main goal is to manufacture human-like hands, whose main
requirements are cosmetics, noiselessness and low weight and size.
Myoelectrically controlled prostheses are at present the best way to
partially restore the functionality of an amputated limb. Finally hybrid

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prostheses combine a body-powered with a myoelectric prosthesis in case

of shoulder disarticulation level amputations.
The proposed approach to the design and development of humanoid
robots relies on the integration of humanoid components intended both as
anthropomorphic hardware systems, and as software modules
implementing anthropomorphic control and behavioral schemes.

1.2 THE BIOMECHATRONIC APPROACH FOR THE

DEVELOPMENT OF ARTIFICIAL HANDS.:

The main goal in designing a novel humanoid hands is to fulfill critical

requirements such as functionality, controllability, low weight, low energy
consumption and noiseless. These requirements can be fulfilled by an
integrated design approach called biomechatronic design.
The first step towards this objective is to enhance the hand dexterity
by increasing the DOF and reducing size of the system. The main problem
in developing such a hand is the limited space available to integrate
actuators within the hand. Anyway, recent progress in sensors, actuators
and embedded control technologies are encouraging the development of
such hand.

1.2.1 SYSTEM ARCHITECTURE:

The proposed biomechatronic hand will be equipped with three actuators
systems to provide a tripod grasping: two identical finger actuators systems
and one thumb actuator system.

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The finger actuator system is based on two micro actuators which

drive respectively the metacarpo-phalangeal joint (MP) and the proximal
inter-phalangeal joint (PIP); for cosmetic reasons, both actuators are fully
integrated in the hand structure: the first in the palm and the second within
the proximal phalanx. The distal inter-phalangeal (DIP) joint is driven by a
four bar link connected to the PIP joint.
The grasping task is divided in two subsequent phases:
1> Reaching and shape adapting phase;
2> Grasping phase with thumb opposition.
In fact, in phase one the first actuator system allows the finger to
adapt to the morphological characteristics of the grasped object by means
of a low output torque motor. In phase two, the thumb actuator system
provides a power opposition useful to manage critical grips, especially in
case of heavy or slippery objects.

1.2.2 KINEMATIC ARCHITECTURE:

A first analysis based on the kinematics characteristics of the human hand,
during grasping tasks, led us to approach the mechanical design with a
multi-DOF hand structure. Index and middle finger are equipped with
active DOF respectively in the MP and in the PIP joints, while the DIP
joint is actuated by one driven passive DOF.
The thumb movements are accomplished with two active DOF in the
MP joint and one driven passive DOF in the IP joint. This configuration
will permit to oppose the thumb to each finger.

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1.3 ANTHROPOMORPHIC SENSORY-MOTOR

CO-ORDINATION SCHEMES:
A general framework for artificial perception and sensory-motor co-ordination in
robotic grasping has been proposed at the ARTS LAB, based on the integration of
visual and tactile perception, processed through anthropomorphic schemes for
control, behavioral planning and learning. The problem of grasping has been subdivided into four key problems, for which specific solutions have been
implemented and validated through experimental trials, relying on
anthropomorphic sensors and actuators, such as an integrated fingertip (including
a tactile, a thermal and a dynamic sensor), a retina-like visual sensor, and the
anthropomorphic Dexter arm and Marcus hand. (See Figure 3)

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Figure 3: The Marcus Hand with the integrated fingertip And the Dexter Arm

In particular,
1. Planning of the pre-grasping hand shaping,
2. Learning of motor co-ordination strategies.
3. Tactile-motor co-ordination in graspind and
4. Object classification based on the visuo-tactile information are
described and reported in the following paragraphs.

1.3.1 A NEURO-FUZZY APPROACH TO GRASP PLANNING:

The first module has the aim of providing the capability of planning the proper
hand, in the case of a multi-fingered hand, based on geometrical features of the
object to be grasped. A neuro-fuzzy approach is adopted for trying to replicate
human capability of processing qualitative data and of learning.

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The base of knowledge on which the fuzzy system can process inputs and
determine outputs is built by a neural network (NN). The trained system has been
validated on a test set of 200 rules, of which the 92.15% was correctly identified.

1.3.2 INTEGRATION OF VISION AND TOUCH IN EDGE

TRACKING:
In order to validate the anthropomorphic model of sensory-motor co-ordination in
grasping, a module was implemented to perform visual and tactile edge tracking,
considered as the first step of sensory-motor co-ordination in grasping actions.
The proposed methodology includes the application of the reinforcementlearning paradigm to back propagation NNs, in order to replicate the human
capability of creating associations between sensory data and motor schemes,
based on the results of attempts to perform movements. The resulting robot
behavior consists in co-ordinating the movement of the fingertip along an object
edge, by integrating visual information on the edge, proprioceptive information
on the arm configuration, and tactile information on the contact, and by
processing this information in a neural framework based on the reinforcementlearning paradigm. The aimed goal of edge tracking is pursued by a strategy
starting from a totally random policy and evolving via rewards and punishments

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CHAPTER 2
REAL-TIME FACIAL GESTURE RECOGNITION
SYSTEM
2.1

INTRODUCTION:

Gestures are an important form of communication between people. We regard

expressions of the face as one of the most natural forms of human expression and
communication. People who are elderly, disabled or just inexperienced users of
computer technology a gesture interface would open the door to many
applications ranging from the control of machines to helping hands. The crucial
aspect of a gesture interface is not only real-time performance, but also the ability
to operate robustly in difficult real world environments.
To understand human gestures based on head movement a system
must be capable of tracking facial features in real-time. We consider real time to
be NTSC video frame rate (30Hz). If facial tracking is done at lower rates then it
is very difficult to understand gestures.
The real-time facial gesture recognition system consists of two
modules running in parallel; a Face Tracker and a Gesture Recognizer. The facetracking module fuses information from the vision system with information
derived from a two-dimensional model of the face using multiple Kalman filters.
We use dedicated hardware, which tracks features in real-time using template
matching. Relying solely on such dedicated hardware it is not possible to reliably
and robustly track a human face since under normal lighting conditions the shape
and shading of facial features will change markedly when the head moves. This
results in a failure by the vision hardware to correctly match the changing

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templates. Kalman filters are used to solve this problem that uses data from the
tracking system with a geometrical model of the face. A face tracker is built that
operates under natural lighting without artificial artifacts. The system is robust
and runs at video frame rate. Reliable and rapid tracking of the face gives rise to
ability to recognize gestures of the head. A gesture consists of a chain of atomic
actions, where each atomic action represents a basic head motion. e.g.: upwards
or to the right etc. The yes gesture is represented the atomic action chain of
move up,stop,move down, etc. if an observer reaches the end of a chain of
atomic actions then a gesture is deemed to have been recognized. We use a
probabilistic approach to decide if an atomic action has been triggered. This is
necessary since it is rare for identical actions to be exactly the same e.g.: nobody
nods in the same way every time.

2.2

THE VISION SYSTEM:

The use of MEP tracking system is made to implement the facial gesture
interface. This vision system is manufactured by Fujitsu and is designed to track
in real time multiple templates in frames of a NTSC video stream. It consists of
two VME-bus cards, a video module and tracking module, which can track up to
100 templates simultaneously at video frame rate (30Hz for NTSC).

The tracking of objects is based on template (8x8 or 16x16 pixels)

comparison in a specified search area. The video module digitizes the video input
stream and stores the digital images into dedicated video RAM. The tracking
module also accesses this RAM. The tracking module compares the digitized
frame with the tracking templates within the bounds of the search windows. This

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comparison is done by using a cross correlation which sums the absolute

difference between corresponding pixels of the template and the frame. The result
of this calculation is called the distortion and measures the similarity of the two
comparison images. Low distortions indicate a good match while high distortions
result when the two images are quite different.
To track a template of an object it is necessary to calculate the
distortion not only at one point in the image but at a number of points within the
search window. To track the movement of an object the tracking module finds the
position in the image frame where the template matches with the lowest
distortion. A vector to the origin of the lowest distortion represents the motion.
By moving the search window along the axis of the motion vector objects can be
easily tracked. The tracking module performs up to 256 cross correlations per
template within a search window.
The MEP tracking vision system works perfectly for objects that do
not change their appearance, shade and are never occluded by other objects.
When the vision system is used to track a face in a head and shoulder image of a
person then problems arise because the head occupies most of the image, one
template of the entire face exceeds the maximum template size allowable in the
vision system. Therefore, it is only possible to track individual features of the face
such as the eyes or mouth. The facial features with high contrast are good
candidates as tracking templates. For e.g.: an eyebrow which appears to be a dark
stripe on a light background (light skin) and the iris of the eye which appears as
dark spot surrounded by the white of the eye are well suited for tracking.
These problems are further complicated by the fact that well suited
tracking features can change their appearance dramatically when a person moves
their head. The shading of the features can change due to uneven illumination and

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the features appear to deform when the head is turned, moved up, down or tilted
to the side. All these changes increase the distortion even if a template is
matching precisely at the correct position. It also results in low distortions at the
wrong coordinates, which then cause the search window to be incorrectly moved
away from the feature. This problem arises when a head is turned sufficiently far
enough for one half of the face with all its associated features to completely
disappear. Once the tracking feature has left the search window the movement
vectors calculated by the vision system are unpredictable. There is a method
developed to allow a search window to correctly find its lost feature thus yielding
a reliable face tracker.

2.3

TRACKING THE FACE:

Our basic idea is that individual search windows help each other to track
their features. From the known geometric relationship between the features in a
face, a lost search window can be repositioned with help from features that are
still tracking. We use a two-dimensional model of the face in which features for
tracking are joined to form a small network. The reference vectors connecting the
features are derived from a single image automatically by the system or by a
human operator. Figure 1 shows a face with boxes marking the nine (9) tracking
features. We use the iris, the corners of the eyes, the eyebrows and the middle and
corners of the mouth. The sizes of the boxes shown are the actual template sizes
(16x16 pixels). The line connections shown in the figure indicate which features
assist the other features for readjusting the search windows. We also use several
templates to track features that can change their appearance. For example the eyes
can be open or closed. In such cases we use three (3) templates for the different

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states (opened, closed and half-open-closed) of the eyes simultaneously. This

makes it possible to determine the state of the tracking features e.g. an eye is open
or the mouth is closed.

As discussed earlier if a person turns their head the distortions of all the templates
increases greatly. In this situation some features may disappear and others may
change their shade and appearance. It is difficult to determine whether search
windows are tracking correctly or incorrectly. Lost search windows influence the
tracking position of the other search windows. A situation can easily arise in
which the system will loose the entire face. Simple thresholding of the distortion
is insufficient to distinguish the lost windows from the tracking ones. An
approach that can cope with noisy data is needed. Kalman filters were used solve
this problem.

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The Kalman filter is a recursive linear estimator, which merges the

measurement of sensors observing the environment with a prediction that is
derived from a system model. The Kalman filter is used in many applications
such as navigation of planes, missiles and mobile robots where uncertain
measurements from sensors that observe landmarks are used to localize a vehicle.
By merging sensor information, the Kalman filter guarantees an optimal estimate
of the sensor data in terms of a minimum mean-square error if an appropriate
system model is used. All sensor data has co variances associated with it, which
indicate the reliability of the data. The output of the filter also has a covariance,
so the control system does not only obtain an estimate, but it also knows the
reliability of the estimate.
Using Kalman filtering yields a system, which copes with head
rotations of about 30 degrees during facing tracking. Further robustness was
added to the face tracking by implementing dynamic search regions, which look
for a feature inside a specific area of the image. The size of the search region is
dependent on the variance of the features (determined from the Kalman filter).
We also extended our 2D model of the face to allow for tilting. This extra
technique allow the head to be rotated up to 60 degrees, tilted acutely from side to
side, and enables quick recovery even when all the tracking features have been
lost.

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Figure 2: Tracking the face

Figure 2 shows four (4) images taken from a tracking sequence. The predicted
estimates of the tracking features are marked with small white crosses.
Another improvement considered is to grab templates of the features
dynamically while the system is tracking the face. This would not only improve
the tracking, but the system would also cope with much greater ranges of
changing illumination. It is planned to create a dynamic face model that adapts to
the gathered data. Such a dynamic system would learn how to track the face of an
unknown person. The system would be initially provided with several generic
faces including startup templates and face geometries. It selects the most similar
model for the unknown person and then learns the exact templates and geometry.
The figure 3 represents some of the recognizable facial gestures that
are commonly used in our daily day-to-day life

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Figure 3: Recognizable Gestures

A gesture recognition module is implemented which runs in parallel

with the face-tracking module at video frame rate (30Hz). This approach
adopted produces reliable results and is robust to noise. The system accurately
discriminates between 13 different gestures. Even though some gestures are quite
similar to each other.

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CHAPTER 3
CONCLUSION
The humanoid research is an approach to understand and realize flexible complex
interactions between robots, environment and humans.
A humanoid robot is an ideal tool for the robotics research; First of
all it introduces complex interactions due to its complex structure. It can be
involved in various physical dynamics by just changing its posture without need
for a different experimental platform. This promotes a unified approach to
handling different dynamics. Since it resembles humans, we can start by applying
our intuitive strategy and investigate why it works or not. Moreover, it motivates
social interactions such as gestural communication or cooperative tasks in the
same context as the physical dynamics. This is essential for three-term
interaction, which aims at fusing physical and social interaction at fundamental
levels.
Integrating human body components such as human prostheses for
upper limbs, and anthropomorphic control and behavioral schemes can approach
the humanoid robotics.
The Gesture Recognizer module that runs in parallel with the facetracking module is capable of recognizing a wide variety of gestures based on
head movements. Gesture recognition is robust due to the statistical approach we
have adopted. In future the plan is to record and analyze the head gestures of a
large sample of people. The plan is also to explore the prospect of allowing the
machines to learn gestures based on observation.

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The ultimate aim is to use the facial gesture recognition system in a

robotic system for the disabled. The interface will allow disabled persons to feed
themselves by using facial gestures to communicate with the helping robot.

References
www.studymafia.org
www.google.com
www.wikipedia.org

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