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The following information is true and accurate at the time of publication.
March 19,2002
Sony Develops Small Biped Entertainment Robot
With Ability to Adopt
Its Movement to a Variety of Situations and Offering Rich
Communication
Tokyo, Japan - Sony Corporation today
announced the development of a prototype small biped entertainment
robot "SDR-4X" that can adapt its performance to its environment
and situations found in the home to further develop the
possibility for a biped-walking robot. Richer communication
with people can be realized by a variety of sensor systems,
performance control software based on memory and learning,
and a flexible biped walking mechanism.
While improving the output performance of small actuators
that drive each joint, a newly developed "Real-time Integrated
Adaptive Control System" controls a total of 38 joints in
the robot's body in real time, based on information from
various sensors gathered in real time. More advanced movements
are realized by enabling biped walk on irregular and tiled
surface plus posture retention control under external pressure.
In addition, stable and flexible walk can be achieved by
the real time production of walking patterns such as pace
and rotation angle in accordance with various situations.
Using two CCD color cameras for image recognition, the SDR-4X
can detect the distance between itself and an object by
processing the parallax of the two cameras. These cameras
allow the robot to perceive the figuration of an object
and range between itself and the object to automatically
produce a route in order to make its way around the object.
In addition to image recognition, sound recognition, and
sound synthesis technologies, communication and movement
control technology based on memory is incorporated in the
SDR-4X to further enrich communications with people. The
SDR-4X can recognize an individual person by detecting the
front facial image captured by a color camera. The robot
can also detect the direction of a sound source and recognizes
an individual speaking by utilizing 7 microphones located
inside its head. By using embedded wireless LAN communication
functions, the robot can synchronize data processing with
an externally connected PC, which enables continuous speech
recognition of many vocabularies.
Information on people and the location of an object obtained
through image recognition technology is used as short and
long term memory information. Based on this information,
the SDR-4X can realize more complicated communication and
movements. By inputting music and lyric data into the robot,
it can produce a singing voice with vibratos and the composition
of emotional, dynamic singing through voice synthesis can
be realized to improve the robot's entertainment quality.
The SDR-4X will be shown at ROBODEX 2002, an exhibition
of "Robots as Partners", from Thursday March 28 to March
31 for 4 days at Pacifico Yokohama in the Yokohama Minatomirai
area.
Prototype "SDR-4X" Key Characteristics
1) Real-time Integrated Adaptive Motion Control
Integrated Adaptive Control can be realized in real time
for walking on irregular and/or tilted surfaces and retaining
posture under external pressure (i.e. when pushed).
- Ability to walk on an irregular surface up to 10mm approximately
in variation
- Ability to walk up and down on a tilted surface up to
10 degrees approximately
- To prevent falling over under external pressure, the SDR-4X
automatically performs footfall and step back to maintain
its standing posture.
- If it falls over, damage will be limited by the robot's
flexible joint control and effective damage avoidance posture
retention.
2) Real-time Gait Pattern Generation Control
This technology produces the necessary walking patterns
by altering walking pace, cycle and rotating angle in accordance
with the situation and environment, based on information
from the robot's sensors. This achieves a stable and smooth
gait for autonomous walking.
3) Real-world Space Perception Technology
With 2 CCD cameras embedded in its head, the SDR-4X can
detect the distance between itself and an object and perceive
the range in-between and the figuration of an object. Based
on this information, SDR-4X can automatically calculate
a route to make its way around the object. 7 microphones
equipped in the head make it possible for the SDR-4X to
detect the direction of a sound source.
| -Micro
Stereo Vision- |
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| -Real-time Obstacle Detection/Real-time Path Planning- |
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4) Multi-modal Human Interaction Technology
1. Individual person detection, recognition learning technology
- Ability to detect and recognize a face (front face) against
a complex background
- Ability to memorize up to 10 individual faces through
the learning functions
- Ability to recognize individuals by the tone of their
voice.
2. Continuous speech recognition and unknown vocabulary
acquisition
- Ability to recognize continuous speech for many vocabularies
by synchronizing data processing with an externally connected
PC via wireless LAN
- Ability to learn and memorize new words not listed on
its dictionary.
3. Conversation, performance control technology based on
its short-term and long-term memory
In addition to short-term memory functions to temporary
memorize individuals and objects, SDR-4X is equipped with
long-term memory functions to memorize faces and names through
more in-depth communications with people. Emotional information
based on a communication experience will be memorized on
a long-term memory as well. By utilizing both short and
long-term memories, the SDR-4X achieves more complicated
conversations and performances.
4. Speech synthesis and singing voice production
- High level of entertainment by emotionally expressive
speech and voice production synchronized with full body
performance
- Capability to produce singing voice with vibratos through
voice synthesis by inputting music and lyric data.
5) Safe design for interaction with people
Safe design including a joint structure that does not trap
hands and fingers in between joints has been adopted for
safe interaction with people
6) Improved expression by adding more degrees of freedom
4 axes in the robot's head and 1 axis in the wrist have
been added in order to improve the robot's expression. 5
individually movable fingers are also attached to each hand.
7) Improved performance of small actuators
Compared to the small actuators used in prototype "SDR-3X"
announced in November 2000, a more advanced physical performance
and response can be achieved by an approximately 30% improvement
in the start-up torque, an approximately 15% improvement
in rated torque, and an approximately 20% improvement in
efficiency.
8) SDR Motion Creator
SDR Motion Creator is a software system that enables the
easy production and editing of a variety of movements such
as dancing, using a PC. This software also includes automatic
correction functions to prevent the robot's falling over
while performing complex movements input by a creator or
user. This enables the robot to easily produce complicated,
personalized performances.
Prototype "SDR-4X" Main Specifications
| CPU |
64
bit RISC processor (x2) |
| Main
Recording Device |
64MB
DRAM (x2) |
| Operating
System |
Aperios
(Sony's original real time OS) |
| Robot
Control Architecture |
OPEN-R |
| Control
Program Supplying media |
16MB
Memory Stick |
| Joint
Degrees of Freedom |
Neck:
4 degrees of freedom, Body: 2 degrees of freedom,
Arms: 5 degrees of freedom (x2), Legs: 6 degrees of
freedom (x2); total 28 degrees of freedom + 5 fingers
on each hand |
| Internal
Sensors |
Distance
Detection |
Infrared
Distance Sensor: head x1, hands x2, total 3 |
| Acceleration
Detection |
Trunk:
X, Y, Z/3 axes, Legs: X, Y/2 axes |
| Angular
Rate Detection |
Trunk:
X, Y, Z/3 axes |
| Foot
Sole Sensor |
Power
Sensor (each leg: 4 x 2 = total 8) |
| Thermo
Sensor |
External
(x4), Internal (x2) |
| Touch
Sensor |
Head |
Pressure
Sensitive Rubber |
| Handle |
Sheet
Switch |
| Hands |
Sheet
Switch X2 |
| Shoulders |
Tact
Switch X2 |
| Image
Input |
110,000
pixels 1/5 inch CCD color camera (x2) |
| Sound
Input |
Microphone
(x7) |
| Sound
Output |
Speaker |
| Input/Output |
PC
Card Slot (Type II) (x1)
Memory Stick Slot (x1) |
| Display |
Eye
LED |
4096
color (RGB 16 gradation combination) |
| Ear
LED |
1 color
16 gradation |
| Power
LED |
2 colors
(3 colors in simultaneous lighting) Performance/Charging
Condition Display |
| Walking
Speed |
Approximately
6m/minute max (irregular surface)Pace: 10cm, Walking
Cycle: 1.0 second/step |
| Approximately
20m/minute max (flat, smooth surface)Pace: 6.5cm,
Walking Cycle: 0.20 second/step |
| Irregular
Surface Walking Ability |
Irregularity
degree: 10mm irregular surface on non-slip condition |
| Tilt
degree: Up to approx. 10 degrees tilted surface on
non-slip condition |
| Weight |
Approximately
6.5Kg with battery and memory |
| Dimensions
(height x width x depth) |
Approximately
580 x 260 x 190mm |
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