Domi 2.0 and the
Full Body Tactical Navigation Suit
Doesn’t ring a bell?
稍微提醒一下：
• The Suit記錄人的動作，機器人就會跟著人
動作
• 重點是The Suit跟機器人的動作一直同步
• 機器人被環境動或者不能跟人一樣快動做
的話，The Suit不會讓人動，而會把機器人
的動作投影到人的身上
• (Almost) Full Feedback System
Two Models
• P for Personal
• M for Military
The Suit
The Suit and it's workstation
• The suit needs to be worn in a special room and requires
an external computer for most (if not all) computation
• The computer needs to be external to keep the suit's
weight to a minimum
• The wearer might have to hang in mid-air, so that legmovement would not actually move him
• Data from the suit is received, evaluated and then passed
on to the robot
• The synchronization data from the robot is also received by
the computer and after evaluation and verification including safety checks- passed on to the suit
• Main issue: Synchronization
Joints and freedoms of movement
Corresponds to human anatomy:
• Neck
• Shoulders
• Elbows
• Wrists
• Waist
• Fingers (depends on the type of robot; there might be
robots that has fangs or guns for hands)
• (Spine is only needed if relative robot position cannot
be computed by the state of the joints)
• (Knees, Ankles)
Material Requirements
•
•
•
•
Light
Flexible
Very Durable
Must be able to act out force on the wearer
but also comfortable to wear
• Joints must be reinforced since they have to
counter possible resisting forces of the wearer
to actually move her
Possibly multi-layered:
• “Soft layer” of cloth that feels soft on the skin
• “Hard layer” that synchronizes the wearer’s
movement with the robot’s
• Motion-capturing layer (if necessary)
The “Hard Layer”
用carbon-based材料跟古老的鎖子甲設計：
• Light
• Flexible
• Very Durable
Positioning system
• Relative positioning is done through motion
capturing
• Positions must have a 1:1 relation between
suit and robot
• For example, if the robot arm has a different
length than the suit wearer’s arm, the position
of elbow and hand would have to be scaled
accordingly
Motion Capturing
• Visual vs. non-visual
• Visual approaches require very expensive
sensors (cameras)
• Non-visual approaches require heavier
markers, thus increasing overall weight of the
suit
• Optimal would be an approach without
markers but that would require much more
complex algorithms
Safety switches to protect the wearer
• The suit must not force the wearer into positions that could
potentially hurt the wearer of the suit
• In that situation, emulation must be cut off and synchronization
(temporarily) disabled
• Sanity checks:
– Don't emulate destruction (i.e. the robot loses an arm)
– Don't emulate strong impacts (i.e. the robot gets hit by a vehicle)
– Don't follow if the angle of a joint is too steep for human anatomy (i.e.
an arm is bent behind the back)
• Scale cut-off values with age and overall health of the wearer
• Consider injuries that might restrict wearer's ability to move freely
• Test all extreme values every time carefully, when putting on the
suit and before starting the emulation
• Maybe use brainwave monitoring to determine levels of pain, and
prevent the wearer from harm
Safety switches to protect the robot
• The robot might have a restricted anatomy
• Some (maybe special-purpose) robots might
for example not be able to move their arms
away from the body
• This can be implemented by not letting the
wearer assume those positions
• The suit should halt and restrict the wearer’s
movement at the maximum angles which the
robot supports
The Suit’s Power Supply
• Batteries vs. wires
• Batteries are heavier
• Wires imply restricted movement and
possible safety hazards (imagine the wearer
gets entangled in the wires)
The Robot
Components
Component
Purpose
Details
Head
Sensors
Eyes: Cameras
Ears: Microphone
Nose: Automatic gas analyzer (for M version)
(Consider: Stereo vs. Mono)
Arms & Hands
Interaction Interact with environment
Torso
Control
下半身
Movement Can be either of:
• Legs & Feet
• Wheels
• Fins
• Jet engines
Special purpose electronics for AI
Component interfaces and controllers
The Robot’s State
•
•
•
•
•
•
•
速度
加速度
重量跟重心(constant)
方向
剩餘能源
各component的狀態(開關、效能、模式、溫度)
手的話 要知道肩、肘、腕、指等關節的角度、手掌
相對身體及環境的位置
• 腳要知道髖關節(?)
• 膝蓋
• 腳踝的角度
軍用款(步兵)
能源來源：核融合
nuclear
散熱：液態氮
頭
• 干擾系統
• 紅外線夜視
• 高倍率鏡頭
下半身
?
材質:奈米隱形材質
手
• 砲彈
• 手槍
軀幹
• AI 自動瞄準
• 陣型分析、火
• 力分析
能源來源
• 備用方案：太陽能
• 主要方案：油電混合
• 。。。。。
Robot AI
• 通訊有問題的時候機器人還是要會做基本
功能
• 軍用款的AI可以幫助軍人把動作最佳化
• 。。。。。
Robot Fuel Considerations
• 下次！
有問題嗎？
謝謝！