Content |
The anthropomorphic robot Fedor, aka FEDOR (Final Experimental Demonstration Object Research), is a rescue robot created by Android Technology together with the Foundation for Advanced Studies (FPI). Work on the project began in 2014 at the initiative of the Ministry of Emergency Situations of the Russian Federation.
A humanoid car can independently move in the city and in rough terrain, use tools and drive a car, has voice control and a set of special sensors. According to the developers, the android is able to independently choose the optimal solution, and if necessary, the operator can intercept control over it.
"The robot Fedor itself is only a visible part of the iceberg," explained Sergey Khurs, project manager of the Advanced Study Foundation. "The complexity of developing anthropomorphic robots is due to the high requirements for technical solutions both in the field of mechanics and in the field of control algorithms."
Mathematical model of combined control
In addition to the robotic platform, the complex includes a combined remote control system with the so-called "control suit." This system is based on a mathematical model of combined control: its feature is the coordination of physical and mathematical models of the human body, the "control suit" and the design of the robot.
Within the framework of the mathematical model, the first coordination provides a recount of the readings of the sensors of the "control suit" to the model of the human body, since its joints and hinges of the mechanisms of the robot do not coincide. The second agreement eliminates the difference between the designs of the "control suit" and the robot. The developed sensor system of the robot includes power-moment sensors, information from which must be transmitted to the operator's body in the form of external loads, giving him an idea of the power interaction of the robot with surrounding objects. As a result, a model with direct and reverse sensory connections appears, which allows the operator to control the robot based on his own sensations.
Touch Feedback System
Another feature of Fedor is the sensory feedback system (force feedback), which allows you to create the effect of immersing the operator in the physical circumstances in which the robot is located. The control suit provides communication between the operator and the robot: in the forward direction, a person controls the robot's drives, in the opposite direction, receives information about external loads on the robot.
At the same time, the actuators of the control suit interact with human muscles, as a result, the operator can feel and control the force that the robot applies to the performed actions. Further, from the robot sensors, which measure speed, angular and linear position and many other data, information is supplied to the control computer.
Kinematics
Robot Fedor has advanced kinematics, in particular, is able to sit on both longitudinal and transverse twine. The flexibility of the design of the rescue robot is necessary in order to allow it to overcome various obstacles, for example, rubble, explained in the Advanced Research Fund.
In addition, Fedor can look both vertically up and strictly down, lowering his head due to her mobility. The high mobility of the head module allows him to look forward even when the robot moves "in plastunsky."
Stereoscopic vision system
Video channels of the stereoscopic vision system of the Fyodor robot can work both together and separately. Channel collaboration allows you to determine the distance to objects, and separate - solve at least two functional tasks at the same time (for example, perform actions with two different tools at the same time).
Driving
Fedora is also distinguished by a high level of development of autonomous programs related to driving. The robot is able to independently get into the car, remove the vehicle from the parking brake and control it through a manual gearbox, steering wheel, gas pedals, clutch and brakes, as well as turn the steering wheel with an interception. The android performs all these actions autonomously, without the participation of the operator.
The mechanics of the robot allow you to reproduce almost any movements of the human body, and the software, including replenished libraries, allows you to expand the professional skills of the robot.
Training
The most time-consuming task is to train only the first robot: the remaining instances are supposed to receive "knowledge" by copying.
2019
Russia launched the Fedor robot into space for the first time
The Russian humanoid robot Fedor (call sign Skybot-F850) first flew into space on the Soyuz MS-14 spacecraft. From the Baikonur cosmodrome in Kazakhstan at August 22, 2019 06:38 Moscow time, the Soyuz-2.1a launch vehicle was launched, Roscosmos broadcast the launch.
At the very beginning, "Fedor" said: "Let's go! Let's go!, "Repeating the famous phrase of Yuri Gagarin.
Eight minutes 49 seconds later, the ship entered orbit and headed for the ISS. From this moment, the Fedor robot can be considered an astronaut, because it has crossed the conditional border at an altitude of one hundred kilometers above the Earth.
In orbit, "Fedor" will stay 17 days. At 21:13 Moscow time on September 6, the ship will automatically disconnect from the ISS and begin returning from orbit. The lander with the Fedor on board is expected to land in Kazakhstan at 00:35 on the 7th.
Earlier it was announced that after this flight, Fedor could go into orbit for the second time to go into outer space.
This is the first space flight of a Russian humanoid robot, as well as the first launch using the new Soyuz-2.1a rocket, which received a Russian digital control system and should replace the Soyuz-FG rocket currently in use with a Ukrainian analog control system.
The robot was developed by order of the Ministry of Emergencies in the Foundation for Advanced Studies together with the NGO Android Technique. The name from Fedor to Skybot F-850 was changed to the robot shortly before the flight. The head of Roscosmos, Dmitry Rogozin, said that this was allegedly the request of the android himself. He received the name "Fedor" from Rogozin, who during its development was still deputy prime minister. The choice was not explained, but this is the name of the grandson of Rogozin himself, RIA Novosti noted.
2017
Sberbank will support software developers for the anthropomorphic robot Fedor
Sberbank will support the finalists and winners of the competition for the development of software for the anthropomorphic robot Fedor. Finalists will receive grants from Sberbank, and winners - the opportunity to further work on the project due to financial support from Sberbank. A representative of the Sberbank Robotics Laboratory will take part in the work of the competition commission, which will evaluate the success of the contestants' tasks.
On-board radiotelemetry system (BRTS)
Specialists of the Russian Space Systems Holding (RKS, part of the ROSCOSMOS State Corporation) announced in September 2017 the development of an on-board radio telemetry system for the Federation reusable manned spacecraft. It will become half as small, lighter and more functional compared to the samples of the previous generation.
The on-board radio telemetry system (BRTS) is the main receiving and transmitting system of the spacecraft, which receives commands from the ground control system on board the spacecraft and transmits information from side to Earth.
The system will fully ensure the communication of the Federation ship with the Earth, collecting information from all its service systems: control, telemetry, television system and the Fedor robot (humanoid robot Final Experimental Demonstration Object Research - FEDOR), which is planned to become the first and only crew member of the new ship during test flights.
Conversations with the robot Fedey, and in the future with the astronauts, will also be carried out through BRTS, which includes wireless headsets. Specialists of JSC "Scientific and Production Association of Measuring Equipment" (NPO IT, part of the RKS) will develop headsets on a domestic element base.
Kirill SEMENOV, leading engineer of the digital circuitry and application software department of IT NGO: "In fact, our system is space Wi-Fi. We have a SPACEWARE switch - a local area network that targets space technology. It has its own standard, it has many levels of protection. We are creating a single system through which all information circulates between the Earth and the spacecraft. And we do this by using only domestic electronic components. "
BRTS includes two monoblocks. One of them will be installed in the propulsion compartment of the spacecraft, the other in the returning vehicle. Unlike the first monoblock, a voice communication unit will be built into the monoblock in the returned device to provide a complete communication path of the crew to each other, with the ground control system, ISS board and other adjacent systems.
Each monoblock consists of 4 universal transceiver modules (UMPUs) for maximum reliability. In constant mode, one receiver-transmitter is switched on for reception, the other - for transmission. If one UMPP fails, the other can take over its functions. This provides multiple redundancy of each of the All-in-One units, preserving the operation of the All-in-One unit even in case of multiple failures.
In addition to working on BRTS, NPO IT specialists are developing a switching amplification unit (BUK) for interfacing with on-board equipment. The synergistic effect of this will increase the reliability of the communication path, and due to the layout solutions, the overall mass characteristics of all systems involved will improve.
The first model of BRTS will appear at the end of 2018. According to plans, further work on the system will be synchronized with work on the Federation ship.
Training software for the Russian android is written in C++, C# and Python
In September 2017, the Foundation for Advanced Research summed up the results of the first (qualification) stage of the open competition of the best solutions for the development of software for the autonomous control of an anthropomorphic robot. The competition, which the FPI holds together with the Ministry of Education and Science of Russia, is attended by students of MIPT, MSTU named after N.E. Bauman, North Caucasian Federal University, Tomsk State University, Sevastopol State University and other Russian universities. Of the more than 40 teams that submitted applications for the competition initially, 14 successfully passed the qualification stage.
Participants in the first stage of the competition performed tasks based on a functional 3D model (in the virtual environment of the simulator), modeling the control of android movements. The competition includes four nominations - "Thin motor skills of manipulators and grabs," "Thin motor skills of manipulators," "Obstacle course" and "Actions in the warehouse." In total, during the competition, within the framework of each nomination, contest participants must program 8 actions that the android will perform in a virtual environment modeling the movements of a real Fedor robot.
Participants in the competition were practically not limited in tools, and used different operating systems - Ubuntu and Windows ROS (a popular operating system for programming robots). The main programming languages were chosen by C++, C# and Python, with the representative of the technical support group of the competition noting that the solutions presented on Python are interesting from the point of view of the cross-platform manager. ON Many participants used OpenSource solutions.
"Russian Terminator"
Russian space robot Fedor frightened foreign media who mistook him for a Terminator and a murder machine. The robot, designed to perform various tasks in Earth's orbit, is similar in structure to humans. Panic in the foreign press began after Deputy Prime Minister Dmitry Rogozin published a video on Twitter in April 2017 in which Fedor demonstrates the ability to shoot firearms with two hands at the same time[1].
In this video, Mashable saw a "chilling soul resemblance" to the scene from the movie Terminator, which also shows pistol shooting from both hands. "For some reason, the space robot was endowed with the ability to shoot with firearms," the publication is surprised. "Just during the increase in military tension in the world, Russian officials released a video that, of course, will spread all fears," Mashable ironically.
The first pilot of the Federation spacecraft will be a robot
The Russian robot Fedor will be the first to launch the Federation spacecraft into space, Eugene Mikrin, general designer of Roscosmos for manned systems, told RIA Novosti in March 2017. The unmanned launch and autonomous flight of our new ship will take place in 2021. But I would like to make a reservation - it will be unmanned conditionally, since the first pilot of the Federation will be the Fedor robot. Relevant decisions have already been made, "said Mikrin.
Notes
| The site content is translated by machine translation software powered by PROMT. The machine-translated articles are not always perfect and may contain errors in vocabulary, syntax or grammar. Read original article If you find inaccuracies or errors in the results of machine translation, please write to editor@tadviser.ru. We will make every effort to correct them as soon as possible. |