As robot products, the earliest practical models (teaching reproduction) are1962 "Verstran" introduced by A M F Company of the United States and "UNlMATE" introduced by UNlMATlON Company. The control mode of these industrial robots is similar to that of CNC machine tools, but their appearance characteristics are quite different, mainly composed of humanoid hands and arms. In 1965, Roborts of MlT shows the first robot system with visual sensor, which can identify and locate simple building blocks. 1967, Japan established the Artificial Hand Research Association (now renamed the Bionic Machinery Research Association), and held the first robot academic conference in Japan in the same year.
1970, the first international conference on industrial robots was held in the United States. After 1970, the research on robots has been rapidly and widely popularized. In the late 1970s, the United States introduced Puma series of high-function robots. At that time, the most advanced l8-bit multi-CPU two-stage microcomputer control system was adopted. There are five flexible teaching methods and special VAL language, which can control the trajectory and perform quite complicated actions. Cincinnati 1973? Richard from Milla Cloning Company? Horn made the first industrial robot controlled by a small computer. It is hydraulically driven and can lift 45 kilograms of payload.
By 1980, industrial robots were popular in Japan, so Japan called that year "the first year of robots". Subsequently, industrial robots have been greatly developed in Japan, and Japan has won the reputation of "robot kingdom". With the rapid development of computer technology and artificial intelligence technology, the function and technology of robots have been greatly improved, and the vision and tactile technology of mobile robots and robots are typical representatives. Due to the development of these technologies, the concept of robot has been expanded. In 1980s, the system with the ability of feeling, thinking, decision-making and action was called intelligent robot, which is a general and extensive concept. This concept not only guides the research and application of robotics, but also gives robotics a huge space for development in depth and breadth. Underwater robots, space robots, aerial robots, ground robots, micro-robots and other robots with various purposes have come out one after another, and many dreams have been realized.
Humanoid robots also developed rapidly in the 1980s and 1990s, among which the real biped walking robot is Wap3, which was trial-produced by I.Kato in 197 1, with a maximum stride of 15mm and a cycle of 45 seconds. The successful development of Wap3 opened the prelude of biped robot research. 1980, a biped robot wL-9DR was introduced by Kato Laboratory. WL-9DR realized quasi-dynamic walking with a stride length of 45cm and a stride length of 9 seconds. In 1984, on the basis of previous studies, Kato adopted ankle joint torque control, which made WL- 10RD realize stable dynamic walking (the step period is 65438+. In 1986, Kato introduced RWL-L2R, which has eight degrees of freedom: each leg has three forward joints; The body has anterior joints and lateral joints. After years of research, biped robots have been studied in many places, and among all the studies, the Japanese have achieved the most.
From 197 1 to 1986, Witt L7 of Oxford University and others made and perfected a biped walking robot, which walked very well on the flat ground with a pace of 0.23 m/s, and J. Furushol 9 of Japan developed two series of R biped walking mechanisms, which can walk dynamically. Starting from 198 1, Kenkyaku- 1, BLR-G2 and BLR-G2 robots have been developed successively. Kenkyaku-l has a five-bar planar walker with four forward joints. Assuming that there is no leg support period, one joint at the hip and one joint at the knee of each leg is triggered by the tactile signal of the sole of the foot, and it is switched between the two leg support periods. In the experiment, the forward stable dynamic walking with a period of 0.45 seconds and a speed of 0.8 m/s was realized. Kenkyaku-2 adds two ankles on the basis of Kenkyaku- 1, and skillfully uses gravity to realize dynamic walking with a period of 0.7- 1.0 seconds and a step size of 35-45cm, without ankle input torque. BLR-G2 is a three-dimensional biped walking mechanism.
A biped walking robot named MEG-2 was designed at 1982 in tokyo institute of technology's Ship Bridge L7. The robot is equipped with gravity and inertia force compensation devices. In the experiment of 1985, the robot realized high-speed walking (125 steps/minute). Dr. Zheng, an American Chinese, is an outstanding figure among American biped robot researchers. He developed two walking robots [I]], named SD-L and SD-2 respectively. SD-L has four degrees of freedom and SD-2 has eight degrees of freedom. SD-2 is the first real humanoid biped walking robot in the United States. 1986, SD-2 robot successfully realized the forward, backward and left-right walking on the flat ground. 1987, this robot has successfully realized dynamic walking again. 1990, he first proposed a control scheme to make biped robots walk on slopes, and made a successful experiment with SD-2.
Kajita is another famous Japanese walking robot researcher who mainly studies the control method of dynamic walking. 1990, he successfully developed a five-bar planar biped walking robot, which has four forward driving motors, all of which are installed on the robot body, and the ankle joint is completely free through the parallelogram linkage mechanism. He put forward the concept of conservation of trajectory energy of the whole mechanism, and realized stable dynamic walking on uneven ground.
At 1989, Tad. McGeer of Canada established a planar biped walking mechanism. The two legs are straight bar mechanisms without knee joints, and each leg has a small motor to control the extension and contraction of the leg. Without active control and energy supply, it has the characteristics of simple two-stage needle pendulum. When placed on a slope, it can walk dynamically by gravity.
1In the spring of 988, National University of Defense Technology successfully developed the first six-degree-of-freedom planar biped robot in China, which can move forward, backward and go up and down stairs. At 1989, they realized quasi-dynamic gait walking, at 1990, they realized omni-directional walking in the laboratory environment, and at 1995, they realized dynamic walking.
1984, engelberg pushed the robot Helpmate, which can deliver meals, medicines and emails to patients in the hospital. In the same year, he also predicted: "I will let the robot sweep the floor, cook, go out to help me wash the car and check the safety."
1998, Lego Denmark launched the Mind-storms suite, which makes robot manufacturing as simple as building blocks and can be assembled at will, allowing robots to enter the personal world.
From 65438 to 0999, Sony Corporation of Japan launched the dog robot AIBO, which sold out immediately. Since then, entertainment robots have become one of the ways for robots to enter ordinary families.
Honda of Japan launched the P series 1, 2, 3 robots from 1986. Honda's research work, especially the launch of "P3" and "Asimo", has pushed the development of humanoid robots to a new height, making the development and production of humanoid robots formally practical, engineering and market-oriented. P 1 is an original walking robot of Honda, which mainly carries out the basic research work of biped walking robot. P2 robot was introduced in February of 1996, which is more anthropomorphic than P 1. The advent of P2 pushed the research work of biped walking robot to a climax, making Honda the absolute leader in this field in the world. Even Professor G. A. Partt of MIT once thought that there would be nothing to do in the field of biped walking robots in the future.
199765438+In February, Honda introduced P3 biped walking robot, which is basically similar to P2, but its weight and height have decreased (from 2 100 kg to 130kg, and its height from 1800mm to 1600mm). On June 5438+065438+1October 20, 2000, Honda introduced a new biped walking robot "ASIMO (Advanced Steps of the Second Generation Mobile Robot)". Compared with P3, "Asimo" is smaller and lighter, and it is easier to adapt to human living space, and it is closer to human walking mode by improving biped walking technology. Asimo is 120cm high and weighs 43kg. It uses a personal computer or a portable controller to operate the walking direction and the movements of joints and hands. In biped walking, the newly developed technology "I2WALK" is adopted to make you walk more freely. On the basis of the previous biped walking technology, I2 Walk combines the new function of "predictive motion control". It can predict future movements in real time, move the center of gravity in advance and change the pace accordingly. In the past, due to the inability to control predictive motion, when changing from straight to turning, the straight motion must be stopped before turning. "Asimo" can make the walking action from straight to turn continuous and smooth by predicting the change of the center of gravity in advance, such as how much the center of gravity will tilt to the outside after the next turn. The goal of developing humanoid robot by Honda in Japan is to realize dynamic walking that is no different from human beings.
Sony Corporation of Japan launched the humanoid entertainment robot "Sony Dream Robot 23x" (SDR 23x) on June 5438+065438+1October 2 1 2000. Its height is 50 cm and its weight is 5 kg. It is characterized by walking 15m per minute, dancing according to the rhythm of music, and self-discipline at high speed. It is also equipped with speech recognition and image recognition functions. At the press conference, SDR23X performed in front of many reporters such projects as "walking quickly while doing gymnastics", "dancing to the beat of music" and "kicking the designated balls into the goal in order" SDR23X can wave, turn and walk on both feet at the same time. SDR23X is equipped with 2 joints in the head, 2 joints in the trunk, 4 joints in each arm, 6 joints in each lower limb and foot, and 24 joints are equipped with driving mechanisms, which are controlled in real time by two 64-bit RISC microprocessors. Real-time operating system "Aperios". The SDR23X independently developed by Sony has the following seven movements, 1) the maximum speed 15m/ min, and it runs back and forth left and right; 2) Turn left and right in the process of advancing (asynchronous turn 90); 3) Stand up from the supine position; 4) Stand on one leg (this action can also be done on an inclined plane); 5) Walking on muddy roads; 6) playing football; 7) dancing. In addition, SDR23X can recognize 20 kinds of sounds, speak 20 languages synthesized from sounds, and recognize colors.
In 200 1 year, MIT broke the historical tradition and developed the world's first robot Kismet with human feelings. Humanoid robot represents the highest technology of robot, which is the product of advanced comprehensive cybernetics, mechatronics, computer and artificial intelligence, materials science and bionics. At present, the scientific community is studying and developing in this direction.
In 2002, iRobot Company of Denmark introduced a vacuum cleaner robot Roomba, which can avoid obstacles, automatically design the travel route, and automatically drive to the charging seat when the power is insufficient. Roomba is the largest and most commercialized home robot in the world.
On March 26th, 2004, Sony, Fujitsu and Mitsubishi Heavy Industries jointly formulated the Robot Service Plan (RSi), aiming at unifying the operating standards of domestic robots. This organization will be responsible for unifying the robot operation command system developed by various companies at present. The purpose is to promote the development of home AV equipment operated by robots and services such as information retrieval and collection by robots using the Internet. They plan to issue a draft specification at the end of 2004. In addition to companies that develop robots, they also call on car manufacturers and Internet content providers to actively participate. In addition, Japanese companies including Honda and Toyota have also released their own intelligent robot products, among which Asimo released by Honda in 2000 is called the world's first biped robot.
In September 2005, Japan's Mitsubishi Heavy Industries officially launched the smart home robot "Ruowan" made by the company. Height 1 m, weight 30 kg. It knows four languages, English and Japanese, and can remember 10000 words. It can also recognize 10 people's faces and call out their names.
On June 4th, 2005, 10, a new riding robot developed by Murata Corporation of Japan met the public in the suburb of Tokyo, Japan. This new bicycle-riding robot can not only ride forward, but also stop or retreat when it finds obstacles.
In June 2006, Microsoft Corporation launched Microsoft Robotics Studio, and the trend of modularization and platform unification of robots became more and more obvious. Gates predicted that home robots would soon sweep the world.
In 2008, Korean scientists developed a humanoid robot that can dance, do housework and express emotions. The researchers named this humanoid robot "Maru". Maru is 1.5 meters tall, which can imitate human beings to open and close their lips, blink, move freely on their upper and lower limbs and stop walking automatically.