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The Torsohead:
The torsoHead is
the primary product. The name "torsoHead", is a combination of two
words, "Torso" and Head". Since it's a mechanical replica
proportioned one-to-one to the human torso and head. TorsoHead
is for now the project name. Some have suggested that the final
name should be, "Walter". After Walter Cronkite when Walter Cronkite
was Walter Cronkite. Since at that time he was only visible from the
waist up.
This product will be offered to the really serious and determined
robot engineer/researcher involved in the design, and research of
Artificial Intelligence for robotics.
Also designed and offered as a teaching tool of autonomous
robotics. It will be delivered with a torso, two arms,
articulated at the shoulders, elbow, wrist and hands with
almost the same degree of articulation as the human arm,
shoulder, elbow, wrist and hands. The torsoHead is not ambulatory, but it
can be suited with wheels if needed. Since it's delivered
with extra I/O control ports for expansion. The torsoHead also
delivered with a head of course. That's also articulated as the
human head. It can turn left, right, up, down and tilt cw and
ccw. The head comes with two B&W digital cameras for its
machine vision and two microphones for its speech recognition.
The digital cameras also move to focus and triangulate, just
as human eyes do. The head is also equipped with
electrolytic vials same system as the human cochlea, to balance and
calibrate its XYZ axis. The torsoHead is controlled by an X86
based Linux SBC. The SBC controls the motors, machine
vision and speech/voice hardware drivers. The torsoHead is
delivered working with manuals and a CD and probably a DVD or
VHS tape; that explains everything about how and why the
torosHead works the way that it does and the scripts that it
can run. With its digital cameras, microphone and speakers the
torsoHead can be programmed to "See", "Hear" and "Speak" in
real-time. With its articulated arms and hands, it can be
programmed to interact with its real world in real-time. The
torsoHead was scheduled to be completed by 2006, but
as most engineering projects progress, it will not be available
until 2007. As a closing note, the torsoHead is all controlled
by 18 stepper motors and not by conventional servos and gears.
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The Head:
The Head will also be used with GorakTwo as well, without any changes.
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torsoHead frontView |
torsoHead head |
torsoHead internals
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torsoHead electrolytic vials
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torsoHead with the IQ100 control board. Since this control board
can control DC motors as the intent is to use to move the eyes( cameras)
vertically Up and Down, as human eyes move.
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The Arm:
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torsoHead LeftArm stepper motors showing, stepper motor control
board, and cardboard hand or fingers. The cardboard fingers are
place holders and have been cut to the same proportions as a
human hand. This is needed to gauge the real distance for the
arm's reach. The fingers will be replaced with the finished
hand.
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torsoHead Left Arm Palm Down
Left arm view again, but from a different angle. The green ruler full length is 16 inches.
The left arm mechanical design at this stage is near final. This arm design is for stepper
motors. But it will also be able to accept DC motors of the same form factor when the need
arises.
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torsoHead Left Arm and Palm Up
Left arm showing wrist stepper motors, unpopulated stepper motor control board, and cardboard palm and fingers.
At this stage, the stepper motors have been tested to turn and move the arm articulations
without any intelligent control.
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The Torso: |
Showing Torso only, with barebones right arm, no Head
and no left arm.
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Showing service panels open and a Wilson Racquet Ball
Racquet for size reference. Also showing other internal missing mechanics.
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Showing Torso only, with barebones right arm, no Head
and no left arm. But showing left arm shoulder blade blue stepper motor and linkage.
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Showing left arm with temporary cardboard fingers, no Head, and right arm barebones wrist showing. Eventually the right arm
will be the same as the left arm, once the left arm has been completed and tested.
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More pictures coming.....
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| More details and pics coming soon. Web page last updated; Oct 3, 2006.
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| Copyright © 2003-2007 by sbcRobotics, ALL RIGHTS RESERVED
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