Chip Technologies for Entertainment ROBOTS

- Present and Future -

Tsugio Makimoto and *Toshi T. Doi

Sony Corporation
Gate City Osaki West Tower, 1-1 1-1 Osaki Shinagawa-ku, Tokyo 141-0032, Japan
*6-7-35 Kitashinagawa Shinagawa-ku, Tokyo 141-0001, Japan

Abstract
The historical background, current status and future
prospect of Entertainment Robots will he reviewed, and the
critical roles played by chip technologies--including processor
performance, sensing capability and actuator elements--will
be discussed. Entertainment Robots were developed and
introduced to the market in the late 1990s. Sooys AIBO, a
dog-like Entertainment Robot, was the first of this kind and
was sold through Internet channels beginning in 1999. Biped
humanoid robots have also been developed and will be
introduced to the market in the not too distant future.
Examples of the latest developments in this field will be
demonstrated, including Sonys SDR-4X, which was
developed in 2002. Entertainment Robots will continue
providing never-ending challenges for chip engineers and will
become a new technology driver in the coming decades.
Introduction
June 1, 1999 was one of the most memorable days in the intelligence, sensing performance and motion capability.
history of the Entertainment Robot [I]. The taking of orders
for AIBO [Z], the first autonomous dog-like robot, shown in
Fig.1, started through the Internet at nine oclock in the
morning. Three thousand units were built and prepared for <Pre-history>
Fig.1 AIBO, the first generation Enlenainrnent Robot
sale with a price tag of 250 thousand yen, or about 2,000
US$. Nobody was sure how many of them would be sold or
how long would it take to sell them all. The result was a big
surprise. The sale was finished in only 17 minutes, and the
telephone kept ringing after that because of complaints from
angry customers who could not get an AIBO.
The Entertainment Robot, or E-Robot, is a kind of personal
robot which is designed to co-exist with human beings in their
everyday lives. This is a relatively new entry to the market
compared to the industrial robot, which has a much longer
history and has been used mostly in factories for improving
the productivity of various industries. At the present stage, the
E-Robot is not very useful for any practical purposes. Instead,
it provides comfort, enjoyment and relaxation to its owner in
just the same way as a living pet. The market entry of AIBO is
just the beginning of a new trend. In the coming decades, the
E-Robot will evolve into various types of personal robot and
will hecome an increasingly common and beneficial partner of
human beings. Of course, chip technology will play a crucial
role for the evolution of the personal robot by enhancing its
Brief History o f Robotics
The robot has been, and will continue to he, an object of
mankinds imagination. For centuries, or even for
millenniums, people have dreamed of some kind of artificial
power or intelligence. The earliest description of robots
appears in the famous Greek classic, The Iliad, written by
the poet Homer, although there was no direct equivalent for
the word robot at that time.
The word robot derives from the Czech word, robota,
meaning drudgery or slave-like labor. A Czech writer, Karel
Capek (pronounced chopek), wrote a play called R.U.R
Rossums Universal Robot in 1920, and it was performed on
January 25, 1921 in Prague. In the story, a scientist invents
robots to help people by performing simple, repetitive tasks.
At the end of the story, however, the robots fight back against
humans, resulting in tragedy. Influenced by the story of
R.U.R, Isaac Asimov offered a deep insight into the future

1.2.1
0-7803-7462-2/02/$l7.00 0 2 W 2 IEEE IEDM 9
of robots with his proposal of The Three Laws of Robotics.
which are shown in Table 1 [3].
Table I . The Three Laws olRobotics
by Isaac Asirnov
-The First Law: A robot may not injure a human being or,
through inaction, allow a human being to comc to harm.
-The Second Law: A robot must obey the orders givcn it by
human beings except where such orders conflict with the
First law.
-The Third Law: A robot must protect its own existence as
long as such protection does not conflict with the First or
Second law.
<First Generation>
The first robot used for practical application appeared
around 1960 with the name of Unimate which was made by
Unimation, a company established by Joseph Engelberger, the
Father of Industrial Robots [4]. The robot was based on the
play-back system in which thc robots manipulator component
repeats the cycle it is initially taught. Similar robots were
widely used in the 70s for applications such as pick and
place operations.
<Second Generation>
Second generation robots are basically sensor-based robots
which can adjust the positioning of the manipulator by
themselves. CCD cameras or other means have been used in
conjunction with microprocessors for adjusting the position.
This type of robot was put into widespread use for numerous
applications in the 1980s. including applications for
semiconductor manufacturing [SI.
<Third Generation>
Third generation
- robots are intended to work in
unstructured environments, such as the case of inspecting
the inside of a nuclear reactor. In such cases, a robot and a
human work cooperatively in an interactive way. A high
precision feedback mechanism is needed so that the
interacting person can feel the robots reality in a remote
location [6].
<Fourth Generations
The newest generation robot is basically a personal robot
which co-exists with human beings in their normal, everyday
living space. In 1996, Honda introduced to the media and
public the prototype of an autonomous, humanoid robot, P2,
which was the predecessor of ASIMO, introduced in 2000 [7].
Sonys first pet-like robot was introduced in 1991 as the
predecessor of AIBO, which was commercialized in 1999. In
the coming decades, personal robots will evolve in a wide
variety of ways, having a great impact on our society
IO-IEDM
Entertainment Robot at Sony
A I R 0 :. a dno-like
~~ _.- - ~ ~rohnt
------~
The project team for developing the E-Robot at Sony was
organized under the leadership of T. Doi in 1993. Inspired by
the early work of R. Brooks, who did some experiments based
on the subsumption concept [SI, the team developed a six-
legged prototype robot which behaved like a cockroach.
The idea was that it might be uscless for anything specific, but
it could be a lot of fun to play with it. After some trials and
discussions, the decision was made to develop a dog-like
robot, and AIBO was successfully commercialized later.
When you buy a brand new AIBO, it is like a baby which
does not have any knowledge, although it has a certain level
of intelligence which is pre-programmed. As you play with
AIBO, it will gradually leam and grow. It behaves nicely if
you take good care of it; otherwise, it may not listen to you or
may even behave like a naughty kid. The behavior is
predictable sometimes but not always, depending on AIBOs
mood.
AlBO is now in the process of evolution. One direction is
toward a more affordable price, and another is toward more
sophisticated functions and performance. Fig.2 shows various
devices and sensors AlBO uses to communicate with the
outside world. Fig.3 shows the topology of AIBO [9]. The
total system control is performed by a CPU, 64 bit RISC
processor, in conjunction with 32MB DRAM. AGR-L and
AGR-S in Fig.3 arc dedicated processors for the local control
and these controllers are connected each other by OPEN-R
bus [IO] which defines the basic architecture. AlBO has total
of 20 degrees of freedom and 15 sensors including image
sensors, acceleration sensors, tactile sensors and microphones.
The total power dissipation is about 9W, and the operating
time is about 1.5 hours using AIBOs Lithium Ion Battery
pack.
Fig.2 Vanoua devices and sensors of AlBO
1.2.2
 IR Dirtancc
Scnsor x 3

Speaker x I

Them,"
Sensor x 6

Touch
Sensor x 6
Head,
llandr.
Shoulder

Fig.4 Sensors of SDR-4X

Fig.3 Topology of AlBO
Biped Entertainment Robot
A project was initiated by two Sony engineers, T. lshida
and Y . Knroki. for developing a biped E-Robot in 1997. The
prototype, SDR-3X, was developed in 1999 [ I I ] and
demonstrated in 2000, followed by the announcement of
SDR-4X in 2002 [IZ]. The letters " S D R stand for Sony
Dream Robot. Fig.4 shows a picture of SDR-4X which has
total of 36 sensors for sensing outside states as well as internal
states.
<Key Characteristics>
Since humanoid type E-Robots are intended to be good
partners for humans, they require the following
characteristics, all of which the latest model, SDR-4X.
possesses:
<Architecture>
SDR architecture is based on OPEN-R, a basis which SDU
shares in common with AIBO. OPEN-U is intended to definc
a platform architecture and a set of intcrfaces which allow
various kinds of E-Robots in terms of shape and application to
easily be developed. thanks to the versatile reusability of
hardware and software components. In dcveloping SDR, for
example, some of the AlBO devices, including various
sensors, have been used.
<Mechanical Configuration>
Fig.5 shows the mechanical configuration of SDR-3X [ I I],
which has a total of 24 .DOFs. Each leg has 6 DOFs, the trunk
has 2, each arm has 4 and the neck has 2.

I ) Real-time integrated Adaptive Motion Control:

- Ability to walk on an irregular surface or on a tilted
surface
-Ability to avoid falling over under external pressure.
2) Real-Time Gait Pattern Generation Control:

1 1
- Ability to achieve a stable and smooth gait for
autonomous walking and dancing.
3) Real-World Space Perception Technology:
Height : 500 [mm] Weight : 5.0 [Kg]
-Two CCD cameras embedded in the head are used for
perceiving real-world space. h
;; i2;;l; Head
Arms
i
2DOF
4DOFx2
- Seven microphones in the head can detect the Legs : 6DOFx2
direction of a sound source.
4) Multi-modal Human Interaction Technology:
-Ability to recognize and memorize a human face Fig.5 Mechanical configuration ofSDR-3X
-Ability to recognize speech and memorize new words
- Conversation and performance control <Electrical Configuration>
-Emotional speech and singing voice with vibratos. Fig.6 shows the electrical configuration of SDR-3X [ I I].
5 ) Safe Design for interaction with People. There are two CPU modules: one for PBC, or Perception and
Behavior Control, and another for MC. or Motion Control.

1.2.3
IEDM 11
The two modulcs are connccted by an OPEN-R Bus. The
OPEN-R LSI is a custom chip which contains a color
segmentation engine and a DSP function for audio signel
proccssing.
Perception &
Behavior Control
Motion Control
Fig.6 EIcclrical conligurvtion of SDR-3X
Key technologies
<Intelligent Servo Actuator>
A high performance actuator of small size is of vital
importance for the quick and smooth motion of E-Robots.
Toward this end, the high density assembling of the necessary
clectro-mechanical system was achieved, resulting in the
Intelligent Servo Actuator or ISA [II]. Fig.7 shows the cross
sectional view of the ISA. The motor unit, control unit and
gear unit arc assembled in a high density integrated structure.
Control Chiv Rotor Magnet Power Module
Control M o d i e Stator Core
Fig.7 Cross sectional view o i l S A
A custom made control LSI chip is mounted on the control
module in its bare chip form. The chip is specifically designed
for both servo control and communication control with a host
processor. The gear unit is composed of a precise reduction
mechanism and is directly connected to the motor unit for
amplification of the motor output torque. The integration of
these three basic units into a single mechatronic device
enables high power output from a small, lightweight structure.
1.2.4
12-IEDM
<Biped Walking and Wholc Body Motion>
In ordcr to maintain thc stability of the robot, thc composed
vector of the gravitational forcc and the incrtial force has to
cross the inside of thc support polygon such as the sole of the
foot touching the ground [ 131. Thc situation is shown in Fig.8,
where all of the moments arc directcd internally, assuring that
the structure will not fall ovcr. Point P in the figure is called
the Zero Moment Point, or ZMP, since there is no moment at
point P. This concept provides thc conditions for stability and
is called the ZMP criterion [14].
Comoound Force
1 Force
Momen
F1g.X Vector of compound forcer crossing inside o f suppon polygon
This criterion has to be satisfied in ordcr for a robot to
maintain stability. At first, a model is established in such a
way that a robot is composed of lumped elements or particles
of fixed mass at a given coordinate, after which the ZMP
equation shown below has to be solved:
where
m, : mass of particle i
ri : position vector of particle i
ramp: position vector of ZMP
G : gravity acceleration vector
In order to achieve the stable whole body motion, the
motion sequences of the feet, hip, trunk, etc. have to be
obtained by using the successive approximation method for
solving the above equation.
<Speech recognition>
Speech recognition on the robotic platform faces difficult
challenges. Firstly, the fact that the microphone is typically
quite far away from the speaker results in a speech signal of
poor quality (known as the far-field effect). Secondly, the
noise from various actuators in the robot itself has a strong
and time-varying impact on the built-in microphones. SDR-
3X uses an isolated word recognition engine based on
continuous Hidden Markov Model technology [15]. In order
to run robustly in a high noise environment, the size of the
vocabulary is limited to a few dozen Japanese words such as
those meaning Kick and Turn Right, etc.
<Vision Control>
As described previously at <Electrical Configuration>,
SDR-3X has a custom LSI chip which contains a color
segmentation engine. The robot is able to recognize the color
of objects through this chip and can track objects by using
such color identification. For example, if SDR-3X receives
the instruction, Kick the red ball, through its voice
recognition system, it recognizes the red ball and tracking
to the ball is initiated.
< Program Storage>
The user program is stored in a Memory Stick, which is a
flash memory-based storage media first offered by Sony in
1997. All models of E-Robots at Sony are equippcd with a
Memory Stick slot. Fig.9 shows a form comparison of various
flash memory cards. The Memory Stick is unique in its
chewing gum-like shape, much taller in length than other
media. Much care was taken in the design. For example, the
shape was intentionally designed to make exchanging media
easy without having to actually see them, and to make
intuitively obvious the means of correct insertion.
Memory Stick Compact Flash Smart Media
H : 50.0 mm H : 36.0 mm H : 45.0 mrn
W: 21.5 mm W 43.0 mm W: 37.0 m
T : 2.8 mm T : 3.3mm T : 0.8 mm
Fig.9 Form cornpanson of memory cards
The Memory Stick is now being- used for a wide range
- of
electronic equipment, including PCs, PDAs, DSCs, and
Digital Audio and TV, in addition to E-Robots. Clearly, the
Memory Stick is going to be an important device in the
realization of the seamless connectivity of electronic
equipment in the home including E-Robots.
Future Prospect of Robotics
What kind of evolution will be created in the world of
robots in the coming decades? The possibilities are, of
course, endless since the new generation of the personal robot
is the product of the human imagination. The only thing we
can definitely say is that the new wave of robotics is rising
and gaining momentum. Among various possibilities, only a
few activities looking toward the future will be described
here.
< RoboCup
RoboCup is a very long-term international research
initiation in which the goal is to create a soccer team of robots
which can beat a human, champion-level team by 2050. The
concept was initially proposed by H. Kitano in 1992 [16], and
the first RoboCup--involving competition betwecn robots--
was held in Nagoya, Japan in 1997 [17]. The sixth RoboCup
was held-in Fukuoka, Japan and Busan, Korea in Junc, 2002,
at the same time as the World Cup of soccer was being held
both in Korea and Japan.
The basic philosophy of the RoboCup is not only targeted
at a robot teams eventually beating a champion-level human
team but also at the wide range of technological developments
required for the project, which will contribute greatly to the
advancement of personal robots in general. The total activities
of the RoboCup project consist of three pillars:
- RoboCup Soccer
- RoboCup Rescue
- RoboCup Junior
In the case of RoboCup Soccer, 2002, there were four leagues
of soccer games, depending on the type of robots; small robot
league (smaller than 18cm in diameter), medium robot league
(smaller than 50cm in diameter), AIBO league and Humanoid
robot league.
RoboCup Rescue aims at developing rescue systems using
robots in the event of calamity. It is expected that much of the
technology developed by RoboCup Soccer will contribute to
this project.
RoboCup Junior is basically an education program for the
younger generation. Since RoboCup Soccer is going to take
almost half a centurv in its effort to achieve its - goal, the
transfer of knowledge and experience from generation to
generation is very important. All in all, the total RoboCup
project is expected to produce a wide range of technologies
required for robots to co-exist with humans in everyday life
settings and situations,
< Tele-existence and Rj,
has been a dream of mankind to extend its capability not
only in physical strength but also in intelligence. The
automobile contributed greatly to the enhancement of human
physical power, and the computer has extended human
.~
intelligence. Now robot technology is reaching a point where
it is possible to extend human capability in both the physical
and intellectual senses. The concept of tele-existence or tele-
presence was proposed in the early 1980s, by S. Tachi and
others [IS]. Simply stated, this is a new kind of man-machine
collaborative system. Suppose a case involving dangerous
work. A robot is located at the actual site, where it can see
and touch actual objects, while a human is inside a more or
less remote cockpit. The buman controller receives sensory
input through signals received from the robot, which can see
1.2.5
IEDM 13
and touch the objects it is dcaling with. In this way, the human
controller can operate the tele-existing robot as if he were
using his own hands, eyes, and legs.
The concept of tele-existence was further enhanced and
formulated, in 1995, in the idea known as R(R-cube), which
stands for Real-time Remote Robotics [19]. This is basically
the extension of the concept of tele-existence to the
broadband network society of the 2L century. Suppose a case
involving mountain climbing with your friends where you
cannot join the group due to geographical distance. Y O U can
access an R3-type robot near the mountain through Your PC or
even from Your Personal cockpit. YOU virtually Join the
group and climb the mountain, via the robot, sharing the
beautiful scenery with your friends. It may take Some decades
for the R3 concept to be actually enjoyed by PeoPk but Some
basic technologies are already being developed step by step.
Among those technologies, biped walking robots Will Play a
most important role in the realization of the of R3concept.
Requirements for Future Chip Technologies
The advancement of chip technologies has provided the
most important technological basis for thc progress of modern
robotics. With the emergence of E-Robots or personal robots
in a broader sense, chip technology will play an even more
crucial role for robotics in the coming decades. As for the
requircments for future chip technologies, there are three main
categories:
- Data processing capability;
-Sensing capability;
- High performance actuator.
<Data Processing Capability>
As the personal robot evolves toward higher and higher
intelligence, the processing capability of the chip needs to be
correspondingly higher. The comparison of the processor
performance between the first generation AIBO and the latest
model of the humanoid robot, SDRAX, provides a good
example of evolution as shown in Table 2. The table shows a
big increase in the intelligence of E-Robots within an
interval ofjust three years. The total number of chips used for
SDRAX exceeds 60, including three 64bit RlSC processors,
29 MCUs (Ihbit), four custom LSI chips, 23 DSPs and others.
The three 64bit RlSC processors used for SDR-4X have
approximately 560 MIPS of performance each, resulting in a
total of 1,680MIPS. The 16bit micro controllers have roughly
20 MIPS of performance each, resulting in a total of
58OMIPS. Therefore, the overall processing capability of
SDR-4X is about 2,260MlPS (not including ASICs and
FPGAs) which is at similar level of todays advanced PC.
Many experts, including robot scientist Hans Moravec of
Camegie Melon University, expect robot intelligence to soar
in the coming decades because of Moores Law.
1.2.6
14-IEDM
; Table 2 . Comparing the intelligence ofAlBO and SDR-4X
~~i~ Memoly
Year of
64bit 64bit RlSC
192MB 12 times
3 years
Among Moravecs predictions is that robots will achieve
human-level intelligence (IOO,OOO,OOOMIPS) by 2040 [ Z O ] .
Fig.10 shows the predicted progress of robot intelligence in
the coming decades.
it should be noted, however, that the MIPS value is not the
sole important factor required for robotics. In addition, power
consumption has to be kept low--less than a few wans--and
the pricing has to be reasonable since the personal robot is a
kind of COnSUmCI product, The guiding principle for the
processor chip will be to maximize the value of (MIPS)
divided by (COST) times (Power Consumption).
Processing Power (MIPS)
I o6
I o4
10
1990 2000 2010 2020 2030 2040 2050
Fig. IO Evolution of robm intelligence predicted by
H.Moravec
<Vision Sensor>
The present status of robot vision sensing is far inferior to
that of human beings in ferns of resolution, dynamic range,
viewing angle and, most importantly, intelligence. There are
many on-going efforts to improve these characteristics, and
one example among them will be shown here. The new chip is
called Entertainment Vision Sensor; it was presented at
ISSCC 2002 [ZI]. The chip is designed such that it can
measure the three dimensional distance between an object and
the camera while, at the same time, capturing high quality
color images. The basic principle i3 shown in Fig.11 where
the distance between camera and an object can be calculated
by detecting the rotation angle ( 0 ) of IR beam reflected by
the scanning mirror. A block diagram of the chip is shown in
Fig.12.

Fig.1 I Basic principle af 3D sensing
Pixel H Scanner
f Pixel
320 x 240
For Pixel Array CDS
Range Scanner
Sensing
..... ...... ......
Operation I Current Mirror
I Image
I
ComparatorILatch lobit range
Data out
Fig.12 Block diagram of'Xnrenainrnent Vision Sensor"
The above is just an example, and there, of course, remain
many challenges to be overcome for robot vision in the
coming decades.
<Inertial Sensor>
A robot controls its motion based on information from
various sensors including acceleration and angular rate
sensors. In the case of SDR-4X, three acceleration sensors
and one angular rate sensor are used in order to achieve
"Real-time Integrated Adaptive Motion Control." Although
commercial sensors are improving, there are compelling
needs for an inertial sensor possessing higher accuracy, a
more compact size, and a more affordable price. It is expected
that the MEMS technology will provide the solution for
sensors in the future. For example, inertial sensor system with
6 DOFs is now under development based on MEMS
technology at University of California at Irvine [22].
<Acoustic Sensor>
Hearing capability is very important for the personal robot
to identify people and communicate with them. Although this
area presents one of the most difficult challenges, some
breakthroughs are expected. For cxample. compare the
number of "ears" of SDR-4X. a total of seven. which are
needed to identify the direction of sound source, to that of a
human, just two. This fact alone suggests a lot of room for
improvement. Although there are many activities going on in
this area. one cxample will be a fishbonc type acoustic sensor
[23]. Thc MEMS device consists of an array of horizontal
bars of diffcrcnt lengths and, hence. different rcsonancc
frequencies. When the device receives an acoustic wave, the
horizontal bars create a vibration pattern unique to thc
received wavc, providing a very clever way of identifying the
input voice.
<Tactile Sensor>
Living things have a huge number of tactilc sensors on the
surfaces of their bodies. In contrast, today's E-Robots have
t only a few tactile sensors, so there is a strong need for
"intelligent skin." For cxample. a humanoid robot playing
For
Imaging soccer against a champion-level human team in the future will
Operation definitely need intelligent skin in order to deal with the many
instances of body-to-body contact which occur during a
...Y
.............
soccer match. Some research efforts based on MEMS
technology are already procccding towards the goal of an
artificial skin [24].
<Artificial Muscle>
Another area of technology development with strong nccds
from robotics is the "artificial muscle.'' Although the
technology is still in the early stage of dcvclopmcnt, it is
expected, when more fully developed, to contribute greatly
towards more natural and smooth robotic movement. Some
experimental results have been reported by 1. Shimoyama and
others where the developcd artificial muscle and MEMS
sensors were combined to make a "MEMS robot hand" [25].
Rising Wave of Robotics
The E-Robot is a symbolic product which has already
established a milestone for the new wave of robotics building
in this new century. Today's situation is similar to that of the
early 1980's, when the PC was introduced. Not many people
foresaw the tremendous impact of the PC in the following
decades. Robots will create a similar kind of impact on our
society in the coming decades. Fig.13 shows projected market
trends for robots in Japan by Japan Robot Association [26]. In
2000, the majority of the robotic market was for the
manufacturing industry. It is expected, however, that personal
robots will boost the total market to around 30B$ by 2010,
which is bigger than today's PC market in Japan. In the next
few decades, the electronics industry will be driven by robots,
with E-Robots playing the leading role, as shown in Fig.14.
Chip technology will play the vital role for the progress of
robotics, and at the same time, it will, synergistically, be
driven by the robotic industry. Although the enhancement of
microprocessor capability is strongly required for robotics, it
1.2.7
IEDM 15
has to be achieved a t lower power consumption and at a more
affordable price in comparison to the case of the PC. More
importantly, sensors and actuators based on MEMS
technology will play a crucial role in improving robots'
abilities to co-exist with humans. These subjects arc sure to
provide never-ending challenges to chip engineers and
scientists.
($B/Year)
40 I
30
I Lzz A-'
20
I
1995 2000 2005 2010
Fzg.13 Market forecast ofrobotic industry in Japan
Acknowledgements
The authors would like to exprcss their sincere appreciation to
Tatsuzo Ishidd, Yoshihiro Kuroki, Yoshio Sakai, and
Yoshiaki Hagiwara of Sony Corporation and Hiroaki Kitano,
Japan Science & Technology Corporation, for their valuable
contributions for preparing the paper.
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