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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.

 

 

 

 


torsoHead frontView
torsoHead head

torsoHead internals
torsoHead electrolytic vials
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.
 
The Arm:
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.
 
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.
 
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.
 
The Torso:
Showing Torso only, with barebones right arm, no Head and no left arm.
 
Showing service panels open and a Wilson Racquet Ball Racquet for size reference. Also showing other internal missing mechanics.
 
Showing Torso only, with barebones right arm, no Head and no left arm. But showing left arm shoulder blade blue stepper motor and linkage.
 
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.