Common Platform Technology for Next Generation Robots Program - - PDF document

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Common Platform Technology for Next Generation Robots Program - - PDF document

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CSTP Coordination Program of Science and Technology Projects (CSTP: Council for Science and Technology Policy) Common Platform Technology for Next Generation Robots Program Director* Tomomasa SATO, The University of Tokyo Program Director*

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SLIDE 1

CSTP-CPSTP 1

CSTP Coordination Program of Science and Technology Projects

(CSTP: Council for Science and Technology Policy)

Common Platform Technology for Next Generation Robots

*CSTP Coordination Program of Science and Technology Projects (Next Generation Robots)

Program Director* Tomomasa SATO, The University of Tokyo Program Director* Nobuto MATSUHIRA, Toshiba Corporation Program Officer* Eimei OYAMA, National Institute of Advanced Industrial Science and Technology

CSTP-CPSTP 2

OUTLINE

  • 1. Background & Mission
  • 2. What is Common Platform Technology?
  • 3. Status of Projects
  • 4. Conclusions
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SLIDE 2

CSTP-CPSTP 3

World Robotics 2006

CSTP-CPSTP 4

111 784 3,001 5,443 4,275 3,949 4,863 3,913 7,123 7,303 6,565 5,890 4,936 4,063 4,654 6,475 5,484 4,709 4,768 4,019 6,003 108,239 109,067 107,910 98,059 81,277 62,120 59,717 89,399 70,891 61,471 78,497 69,499 69,895 54,149 55,185 4,418 19,873 48,490 79,096 79,655 56,147

1000 2000 3000 4000 5000 6000 7000 8000 75 80 85 90 91 92 93 94 95 96 97 98 99 00 01 02 03 04 05 06 07 year

\0.1billion

20,000 40,000 60,000 80,000 100,000 120,000

unit Value Unit ¥1000 billion @2010 (approx.) ¥3000 billion @2010

  • Incl. Service

robots (approx.)

  • 1. Robot Market and Forecast in Japan

From JARA@2008

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SLIDE 3

CSTP-CPSTP 5

Current Robot Developments

Network robots Construction robots Harvesting robots Human support robots Rescue robots Application (Examples) Robots by MIC Robots by MLIT Robots by MAFF Robots by MEXT Robots by METI Ministries Independent developments Various types

  • f robot

development for their needs Basic technologies for all applications No redundant development

CSTP-CPSTP 6

Main Mission of CSTP Coordination Program

  • f Science and Technology Projects

(Next Generation Robots)

(CSTP: Council for Science and Technology Policy*)

Establishment of Common Platform Technology for efficient robot developments as infrastructure for any application. Coordination among ministries for new robot markets.

*Council for Science and Technology Policy is one of the four councils of important policies of Cabinet Office of Japan. The CSTP is comprised by Prime Minister, relevant Ministers, and experts.

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SLIDE 4

CSTP-CPSTP 7

Organization of CSTP-CPSTP (2005~2009)

Council for Science & Technology Policy(CSTP)

Project Team

①Post-Genome ②Emerging and Re-emerging Infectious Diseases ③Ubiquitous Networks

④Next Generation Robots

⑤Biomass Utilization Technologies ⑥Hydrogen & Fuel Cell ⑦Nano-bio-technology ⑧Local Science & Technology Cluster

14

Ministries

Special Coordination Funds for Promoting Science & Technology (MEXT)

Japan Science & Technology Agency(JST)

CSTP Coordinate Program of Science & Technology Projects (CPSTP)

  • Project Directors
  • Project Officers

Support

New Projects:

Common Platform Technology for Next Generation Robots

Council for Science & Technology Policy(CSTP)

Project Team

①Post-Genome ②Emerging and Re-emerging Infectious Diseases ③Ubiquitous Networks

④Next Generation Robots

⑤Biomass Utilization Technologies ⑥Hydrogen & Fuel Cell ⑦Nano-bio-technology ⑧Local Science & Technology Cluster

14

Ministries

Special Coordination Funds for Promoting Science & Technology (MEXT)

Japan Science & Technology Agency(JST)

CSTP Coordinate Program of Science & Technology Projects (CPSTP)

  • Project Directors
  • Project Officers

Support

New Projects:

Common Platform Technology for Next Generation Robots

Not a latest version. CSTP-CPSTP 8

Network robots Construction robots Harvesting robots Human support robots Rescue robots Application (Examples)

Common platform

  • Information

Structured Environment

  • Software

Platform

Efficient development for various applications

Create new robot market Enhance competitiveness

METI MAFF MEXT MLIT MIC

National projects in the government

  • 2. Common Platform Technology

for Next Generation Robot

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SLIDE 5

CSTP-CPSTP 9 Computer Robot

（Information structured environment )

Ubiquitous Computing Communication Network

GPS RFID tags

Establishment of Information Structured Environment

Improvement of environment for robots ・Sensor Information（GPS， RFID,…） ・Position information of robot and

  • bject

・Map information of environment ・Communication between robots and appliances Development of each robot application by using the information provided by the information structured environment

Efficient development of robots

Sensor

We call the established information structured environment the “Environmental Platform.”

CSTP-CPSTP 10

Middleware layer

Robot world simulator (Common software platform)

R&D

(Ministry project)

R&D (Industry) R&D (University)

Software supply Software supply Available software Software developed by research and development Research institute Available software Software （Colored part shows middleware）

R&D

(Ministry project)

R&D (Industry) R&D (University)

Concept of Software Platform

  • Robot World Simulator -
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SLIDE 6

CSTP-CPSTP 11

  • 1. Robot Town PJ: Robot Town, in which robots work in an ordinary

environment using RFID tags and a distributed vision integrated by TMS

  • 2. Human Behavior Measurement PJ: Information structured

environment based on human positions, in which spatial information and record of human behaviors are linked

  • 3. Robotic Universal Design PJ: Universal Design for Environment

and Manipulation Framework

  • 4. Robot Simulator PJ: Robot simulator composed of distributed
  • bject modules implemented by RT Middleware

Four R&D Projects of CPSTP

The above projects were performed through Special Coordination Funds for Promoting Science and Technology of the Ministry of Education, Culture, Sports, Science and Technology (MEXT), the Japanese Government.

CSTP-CPSTP 12

タウンでの 環境情報構造化 作業空間での 環境情報構造化

(1) Structured Environments

H18年度 FY2006

①Town (2) Software Modularization ②Public facilities

④Robot World Simulator

Measurement

  • f Fields

FY2007

Measurement

  • f Human

Measurement

  • f Objects

③Task space

Overview of the Common Platform Technology

Environmental Platform Software Platform

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SLIDE 7

CSTP-CPSTP 13

① Robot Town PJ: 2005-2007

Distributed Vison System

Pedestrian Position/Motion Car Position/motion

  • Info. of

Pedestrians, Cars and Obstacles Surveillance

  • f Robot

Map Status of Robots Tracking of Moving objects

Self positioning Inquiry surroundings

Distributed Sensor/RFIDtag Town Management System (TMS) Robot

Other Networks (GIS and Databases)

Distributed Vison System

Pedestrian Position/Motion Car Position/motion

  • Info. of

Pedestrians, Cars and Obstacles Surveillance

  • f Robot

Map Status of Robots Tracking of Moving objects

Self positioning Inquiry surroundings

Distributed Sensor/RFIDtag Town Management System (TMS) Robot

Other Networks (GIS and Databases)

Robot town aims to collaborated work with robots and humans.

CSTP-CPSTP 14

Layout of Embedded RFID tags

RFID tags (HF band and LF band) attached on the back side of a unit rectangular floor mat (0.5m x 0.5m).

Floor Map of the Platform house

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SLIDE 8

CSTP-CPSTP 15

Robot Town Open Experiment（Feb. 25, 2008）

Wheel Chair Robot Experiment Robot handling Small Object and Display of Humans in Room CSTP-CPSTP 16

Service Application Relationship between space and behavior (Structuring on environmental information

Data Integration /accumulation measurement Camera RFID Data Integration /accumulation measurement

Sensor Segments

Primitive

Service & Application

RFID

Camera

GPS

Range Finder

・Measure positions of humans and robots ・Structuring Environmental Information (Giving meanings in terms of space and behavior) Standardization ⇒Position and error

Integration

Guide Navi. Intro.

Camera

Spatial primitive Behavioral primitive

Service Application Relationship between space and behavior (Structuring on environmental information

Data Integration /accumulation measurement Camera RFID Data Integration /accumulation measurement

Sensor Segments

Primitive

Service & Application

RFID

Camera

GPS

Range Finder

・Measure positions of humans and robots ・Structuring Environmental Information (Giving meanings in terms of space and behavior) Standardization ⇒Position and error

Integration

Guide Navi. Intro.

Camera

Spatial primitive Behavioral primitive

② Human Behavior Measurement PJ: 2006-2008

To realize robotic services for humans based on human behavior.

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SLIDE 9

CSTP-CPSTP 17

Experimental Field： Universal City Walk in Osaka, A Shopping Mall

Laser Range Finder

Camera

Laser Range Finder

Camera

CSTP-CPSTP 18

Open Experiment at Universal City Walk in Osaka （Jan. 23, 2008）

A Robot Guiding A Human Display of Status of Environment

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SLIDE 10

CSTP-CPSTP 19

③ Robotic Universal Design PJ: 2006-2008

Many kinds of Robot

RT開発 メーカー 住宅メーカー

実証実験ハウス

モデルハウス建設・実験 マネジメントセンター ・企業/情報ﾏｯﾁﾝｸﾞ ・ﾃﾞｰﾀ計測ｼｽﾃﾑ整備 等 RTの持込・実験

  • マーケットリサーチ
  • 新製品の開発
  • ＰＲなど
  • マーケットリサーチ
  • ＲＴ動作確認など
RT開発 メーカー 住宅メーカー

実証実験ハウス

モデルハウス建設・実験 マネジメントセンター ・企業/情報ﾏｯﾁﾝｸﾞ ・ﾃﾞｰﾀ計測ｼｽﾃﾑ整備 等 RTの持込・実験

  • マーケットリサーチ
  • 新製品の開発
  • ＰＲなど
  • マーケットリサーチ
  • ＲＴ動作確認など

Robots Environment Task Various Environment Several Tasks

Service Robots are hoped to do several tasks in various environments. Make basic framework for manipulation.

CSTP-CPSTP 20

  • Robot Platform

Omni directional robot Differential 2 wheel robot

with RFID reader, IMU

  • Infrastructures

Pseudlite (GNSS) Starlite (ETRI) RFID LRF (Hokuyo) Checked floor Ceiling camera

  • Surveying instrument

Total-Station (Leica)

List of installed devices Sensors of the room

AIST Experimental Rooms: Prototype

In order to show the advantage by structured environment and to prove sensor combinations, the experimental rooms were built.

Final environmental platform will be built in Kanagawa Robot Park.

Pseudlite (Indoor GPS) Starlite (Infrared LED Transmitter) Ceiling Camera RFID tag

  • n floor

Laser Range Finder Pseudlite (Indoor GPS) Starlite (Infrared LED Transmitter) Ceiling Camera RFID tag

  • n floor

Laser Range Finder Pseudlite (Indoor GPS) Starlite (Infrared LED Transmitter) Ceiling Camera RFID tag

  • n floor

Laser Range Finder

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SLIDE 11

CSTP-CPSTP 21

AIST Open Experiments（Oct. 23, 2007）

Pick & Place Tasks in Information Structured Environment Universal Container Handling Experiments Universal Handle

  • Task Template based on Pick& Place Task
  • Universal Handle with CLUE

Standardization

( CLUE: Coded Landmark for Ubiquitous Environments) CSTP-CPSTP 22

④ Robot Simulator Constructed

  • n Distributed Object Modules PJ: 2005-2007

RT ドルウエアにより構築される T ステム ミ R シ 蓄積された T フトウエア資産 R ソ

サブテーマ(3) サブテーマ(2) サブテーマ(1)

シミュレータ用 ンターフェース イ 実機とシミュレータの り替えが容易に可能 切

RT ンポーネント コ

入出力ポート サービスインターフェース

固有機能 実装 の 実ロボット シミュレータ 実世界 相互作用

Collision Detector Model Loader etc. Dynamics Simulation Engine

Accumulated RTC Software

Real Robot

I/F Port I/F for Service

Function

RT Component

Dynamics Simulation Engine

Collision Detector Model Loader, etc.

Simulator

Structured RTC System by RT Middleware

Switch connecting RTC system to Real Robot or Simulator

Interaction Real World

I/F for Simulator

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SLIDE 12

CSTP-CPSTP 23 Schedule

  • The simulator is open for unlimited users from

June 2008.

  • Eclipse Public License v 1.0

Simulation Dynamics, Path planning, Visual navigation Basic library Interference check, Kinematics & inverse-

kinematics

Center of gravity, ZMP GUI Development Linux / Windows Java-SDK, Java3D, C/C++, OmniORB

OpenHRP3: Open architecture Human-Centered Robotics Platform 3

CSTP-CPSTP 24

Examples of Simulations

Porter Robots Humanoid Robot Closed Loop Linkage Mechanism Mitsubishi PA-10

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SLIDE 13

CSTP-CPSTP 25

RT Middleware as an international standard is used in Common Platforms. Kansai platform will be used for METI, MIC and other projects. Localization of robot position proposed for an international standard will be used in Common Platforms. Robot Simulator OpenHRP3 is widely used in other robot projects.

Feature of Common Platform Projects

CSTP-CPSTP 26

Project Relationship

2002 2003 2004 2005 2006 2007

2008

2009 2010 2011 RT-Middleware PJ/METI Basic RT device PJ/METI Intelligent RT PJ/METI Open Innovation PJ/METI Robotic Universal Design PJ Industrial Application Network Robot PJ/MIC Robot Town PJ Open HRP3 PJ Human Behavior Measurement PJ Common Platform Technology

PJ names are not official here.

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SLIDE 14

CSTP-CPSTP 27

Conclusions

  • 1. Necessity and status of common platform technology for

next generation robots are introduced as an important infrastructure of robot development. 1) Information Structured Environmental Platforms

  • Robot Town PJ (finish)
  • Human Behavior measurement PJ (ongoing)
  • Robotic Universal Design PJ (ongoing)

2) Software Platform

  • OpenHRP3 PJ (finish)
  • 2. Promote the use of platforms
  • Continue to other national projects
  • 3. Coordination among related ministries are advancing.

CSTP-CPSTP 28

Thank you for your attention !

The studies of the Coordination Program of Science and Technology Projects “Next Generation Robots” were conducted by the Council for Science and Technology Policy (CSTP) and founded by Special Coordination Funds for Promoting Science and Technology. We would like to thank all the researchers of the project, especially, the following research leaders:

  • Prof. Tsutomu Hasegawa (Kyusyu University)
  • Dr. Hirohisa Hirukawa (AIST)
  • Dr. Norihiro Hagita (ATR)
  • Dr. Kohtaro Ohba (AIST).

Finally, we mourn the loss of the former program director, Prof. Kazuo Tanie (Metropolitan University).