SONY DREAM ROBOT (SDR)

Introduction
Movies
 Basic Configuration of SDR

SDR-3X SDR-4X
50 cm height, 5 kg weight, 58 cm height, 6.5 kg weight,
24 DOF 28 DOF
Each leg has 6 DOF, trunk has 2 DOF, each arm
has 5 DOF and the neck has 4 DOF.
Key Devices

Robot Actuator ISA (Intelligent Servo Actuator)

SDR’s Typical Embedded Devices

 Real-Time Integrated Adaptive
Motion Control
• Real-Time Whole Body Stabilizing Motion Control

• Asynchronously generated
obstacle avoidance and
alteration of the upper-
body motion in walking.
• The function includes a real-
time solver for the ZMP
equation and a gait pattern
generator.
 Real-Time Terrain Adaptive
Motion Control
• Using the internal sensors such as force sensors, posture of the robot and
inclination of the terrain could be calculated and detected. The Real-time Terrain
• Adaptive Motion Control has been realized by cooperative control of such sensor
• based motion control and mechanically adaptive capability.

Ability to walk on inclined and seesaw terrain.

 External Force Adaptive
Motion Control
• Inclination of the robot cased by external force and moment could
be also detected using the internal sensors such as force sensors.
• To prevent falling over under external forces, SDR-4X performs
footfall and step back and forth to maintain its stable posture.

External force adaptive motion

performance by intercepting biped walking
 Real-time Adaptive Falling over
Motion Control
• SDR-4X detects the adaptive limitation of the terrain adaptive motion control
and the external force adaptive motion control, restabilization of the whole
body motion control is suspended and the control is switched to the Real-time
Adaptive Falling over Motion Control.
• When the system detects direction of falling over, the robot is controlled to get
into the pose which can adapt and secure against contacting with environment.
• To reduce the impact of the ground contact the cooperative motion control
with the performance of ISA’s back-drivability enables compliant control of
the joints

Falling Backward Motion Control

 Lifting up Motion Control

Lifting up Motion Control

• A grip with a touch sensor is utilized on the back of SDR-4X.

• Lifting up of SDR-4X is detected by this sensor of the grip
and the force sensors on the feet.
• Once it is detected the control is switched to the Lifting up
Motion Control and the joints of the lower limbs and the both
arms are controlled to make compliant.
SDR Motion Creator
• SDR Motion Creator
includes the motion
creating and editing user
interfaces, the Real-time
Whole Body Stabilizing
Motion Control module,
the same module applied
to SDR-4X.
• The designed motions
can be determined to
perform by 3D browsing
function.
• SDR Motion Creator has
a capability to realize a
motion and music
synchronized creation
using the motion
creating track and the
music data track.
 SDR Motion Performances
• High-tempo Dance Performance

Dance Performance by SDR-3X Dance Performance by SDR-4X

Using the SDR Motion Creator the dynamic, table and music synchronized
performance based on 4-unit formation has been realized.
 SDR Motion Performances
• A Cappella Chorus Performance

* Based on the speech synthesis the emotionally expressive speech and the
production of a singing voice with vibratos have been developed.
* By cooperative control of this function with the Real-time Whole Body
Stabilizing Motion Control enables speech and singing performances
synchronized with whole body motion.