Network-based Humanoid ‘MAHRU ’ as Ubiquitous Robotic Companion

Abstract: The paper proposes ‘Network-based Humanoid’, that is, a humanoid endowed with its perception capability and intelligence by an external computer system connected with wireless network. The network-based humanoid is composed of a humanoid test-bed, an internal control system and an external computer system. The internal distributed control system is composed of two parts. One is responsible for motion control of the humanoid following commands from the external computer system while the motion control is done by a CAN-based distributed motor controller. The other is for real-time data transmission of image data, voice data, and sensor data for motion control by wireless network to the external computer system. The external computer system, a network-based distributed control system, processes the transmitted data, decides the final action command for the humanoid, and transmits the action command to the internal control system. A network-based humanoid, whose name is ‘MAHRU’, is developed successfully. The humanoid can walk using two legs with the maximum speed of 0.9 Km/h. It is noted that the humanoid can recognize faces, gestures of human beings in real-time, three-dimensional objects, and 100 voice words with the help of the external computer system connected through wireless network. And, the humanoid interacts with human beings via a stereo camera, a microphone, and force/torque sensors. 1