A Human-Like Robot Torso ZAR5 with Fluidic Muscles: Toward a Common Platform for Embodied AI
“Without embodiment artificial intelligence is nothing.” Algorithms in the field of artificial intelligence are mostly tested on a computer instead of testing on a real platform. Our anthropomorphic robot ZAR5 (in German Zwei-Arm-Roboter in the 5th versio
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Technische Universität Berlin, FG Bionik und Evolutionstechnik, 2 EvoLogics GmbH, F and E Labor Bionik, Ackerstr. 76, 13355 Berlin, Germany [email protected], www.zar-x.de
Abstract. “Without embodiment artificial intelligence is nothing.” Algorithms in the field of artificial intelligence are mostly tested on a computer instead of testing on a real platform. Our anthropomorphic robot ZAR5 (in German ZweiArm-Roboter in the 5th version) is the first biologically inspired and completely artificial muscle driven robot torso that can be fully controlled by a data suit and two five finger data gloves. The underlying biological principles of sensor technology, signal processing, control architecture und actuator technology of our robot platform meet the requirements of biological based technical realization and support a distributed programming and control as well as an online self-adaptation and relearning processing. The following elaboration focuses on biological inspiration for the embodiment of artificial intelligence, gives a short insight into technical realisation of a humanoid robot, which is of high importance in this context, and accentuates highlights relating to a possible paradigm shift in artificial intelligence. Keywords: embodied artificial intelligence, biological archetype, humanoid robot, biological inspired construction, fluidic muscle, muscle-tendon system, weight saving construction, common platform.
1 Introduction in the Biological Inspiration of the Robot ZAR5 ZARx is a joint project of the Technische Universität Berlin department Bionik und Evolutionstechnik, the company EvoLogics and the company Festo1. The aim of this project using the fluidic muscle of Festo [1] is to show the current possibilities of biologically inspired construction in embodiment, muscle-tendon system, control architecture, radius of action, and weight saving. The robot ZAR5 is a human-like torso with two arms and two five-finger hands which are strictly developed according to bionical considerations. The combination of biology and robotics leads to smoother and compliant movement which is more pleasant for us as people. Biologically inspired robots embody non-rigid movements which are made possible by special joints and actuators that give way and can both actively and passively adapt stiffness in different situations. The more the technical 1
This project was supported by Markus Fischer TC-D, FESTO AG & Co. KG.
M. Lungarella et al. (Eds.): 50 Years of AI, Festschrift, LNAI 4850, pp. 347–357, 2007. © Springer-Verlag Berlin Heidelberg 2007
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realisation corresponds with the biological role model the successful is the reflection of the true reality. If we want to learn more about the control architecture and their functionality in the human being, we have to build an exact copy of the natural role model as much as possible to improve our conceivability of artificial intelligence. Biological inspiration is not only the morphology – size, proportions and loadbearing inner structures – but al
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