Domo (robot)

**Domo** ni robot yubushakashatsi yakozwe na Massachusetts Institute of Technology yagenewe gukorana nabantu . Ubwonko bwa Jeff Weber na Aaron Edsinger, abanditsi ba Meka Robotics, izina ryayo rikomoka ku mvugo y’ikiyapani ngo "urakoze cyane", *domo arigato*, ndetse n'indirimbo ya Styx, " Bwana Roboto ". Umushinga Domo watewe inkunga na NASA, ubu wifatanije na Toyota mu gutera inkunga robot. 

## Intego
Domo yaremewe kugirango igerageze imiyoboro myinshi ya robo namabwiriza bigoye cyane.

## Inkomoko
Inzu yumushinga wa Domo iri hamwe nitsinda ryimashini za Robo ya Humanoid muri MIT Artific Intelligence Labs.  Kubaho kwayo byatewe n'imishinga ya robo yaje mbere yayo.

Umushinga wa Robo ya Cardea wari umushinga wubushakashatsi uyobowe na Porofeseri Rodney Brooks mu itsinda ry’imashini za Humanoid muri MIT.  Itsinda rya laboratoire ryakoze gukora umugozi-utwara amashanyarazi utagira shitingi ya Elastic Actuator ukuboko kwashyizwe kumurongo wa Segway. Jeff Weber na Aaron Edsinger-Gonzales bagize uruhare muri ubu bushakashatsi, bashinzwe cyane cyane gushushanya no gushyira mu bikorwa ukuboko kwa robo. Ubu bufatanye bwatumye Edsinger-Gonzales na Weber bakora ubushakashatsi bumwe na bumwe babukoresha kuri robot nshya, Domo.

Edsinger na Weber bakoranye no ku zindi robo nyinshi, kandi uburambe bwabo bwo gukorana nurupapuro rwa Kismet  hamwe na Cog  byagize ingaruka ku gishushanyo cya Domo. Kismet yari umutwe wa robo wakozwe na Cynthia Breazeal kugirango ugerageze imvugo mbonezamubano. Uruhare rwa Edsinger muri uyu mushinga kwari ugufasha guteza imbere icyiciro cya mbere cya Kismet cyo kumenya amaso, cyemerera Kismet guhuza amaso mu gihe cyo gukorana. Umushinga wa Cog wari ugamije gucukumbura uburyo ubwenge bukorwa binyuze mubusabane. Imashini ya Cog yagenewe kwigana ingingo z'umubiri z'umubiri hamwe n'ingingo z'umubiri ndetse no kwakira ibitera imbaraga biva muri ibyo kugirango ishobore gukoresha ingingo zayo muburyo busa n'abantu. Umusanzu wa Edsinger mu mushinga wa Cog wari urukurikirane rwa Elastic Actuator hamwe nubugenzuzi bwumubiri wa robo. Nubwo icyerekezo cyubushakashatsi bwizi robo gitandukanye cyane nu mushinga wa Domo, igishushanyo mbonera cyerekana amaso hamwe na Series Elastic Actuator ukuboko byinjijwe mubishushanyo bya Domo. 

## Igishushanyo
Domo yaremewe murwego rwo gukora ubushakashatsi kuri manipulation no gukorana nogukangura no kwiga imashini yubuhanga bwa sensorimotor. Kugirango ibyo bigerweho, igishushanyo cyasabwaga gutekereza cyane kuburyo robot yashobora guhura nibitekerezo bitamenyerewe. Ubushakashatsi bwasabye kandi Domo kugira ngo abashe kumenya no gukora ku bidukikije. Guhaza izo mpungenge bivuze ko Domo yari akeneye kuba ashoboye gukora adafite icyitegererezo cyuzuye cyisi, ahubwo, yari ifite ubushobozi bwo kwiyubakira icyitegererezo. 

## Ibice bya mashini

### Umutwe
Umutwe wa robo ya Domo ugizwe na dogere zirindwi zubwisanzure kumutwe wo hejuru ufatanye nijosi hamwe na dogere ebyiri zubwisanzure. Hano hari amaso abiri, buri kimwe gifite kamera imwe yagutse. Kamera zirashobora gufata amashusho kuri 640 × 480 kuri 30 frame kumasegonda (ikadiri / s) cyangwa 1024 × 768 kuri 15 frame / s. Kamera zombi zihengamye ku ntera imwe y’ubwisanzure, ariko zifite urwego rwubwisanzure bwo kwemerera panne yigenga. Igice cyijisho kirimo gukoreshwa kugirango ugaragaze imvugo. 

Imitwe ya robo zabanjirije iyi, nka Cog, zabangamiwe n'umugozi w'insinga z'amashanyarazi zagendaga kuri kamera y'amaso na moteri. Igishushanyo cya Domo gikoresha insinga zose zinyuze mu ijosi kugirango zive mu nzira. Ibi bituma Domo atandukana cyane nubwisanzure mumutwe.

Kugenda mumutwe byoroherezwa na moteri yohanaguwe neza . Imyanya yumwanya wa potentiometero muri moteri itanga ibitekerezo kubyerekeranye numutwe uhagaze neza mugitangira, Domo rero ntisaba gahunda ya kalibrasi mbere yo gukora.

Intego nyamukuru yibanze kumutwe kwari ukugira ngo Domo abashe kwigana ijisho ryabantu. Amaso yumuntu atandukana cyane cyane kandi aturika kugeza kugenda buhoro kandi neza kugirango akurikire ibintu bitera imbaraga, bityo rero byari bikenewe ko harebwa ubwitonzi kugirango dushushanye umutwe wa Domo. 

Aya maso ahujwe na sisitemu yo kumenya ni ihuriro ryimashini ya Linux. Porogaramu ya software ya YARP (Yongeyeho Ubundi buryo bwa Robo) ikoreshwa muri sisitemu yo kumenya gukora gutunganya amashusho. 

## Intwaro
Aho gushushanya amaboko ya Domo kugira ngo asobanuke neza, Edsinger na Weber bateguye amaboko kugira ngo bakore cyane nk'ay'umuntu. Intwaro zabantu zifite ubuhanga bwo kumva no kugenzura imbaraga kuri buri rugingo, zireka neza neza kugirango zubahirizwe. Guhindura ibi kuri robot ya humanoid byasabye igishushanyo cyo gushyiramo kwihanganira no kubahiriza kuri buri rugingo mugihe nanone ubasha gukurikirana no gusohora umuriro.

Amaboko ya Domo afite dogere esheshatu zubwisanzure, ebyiri ku rutugu na bane mu kuboko no mu kuboko. Ihuriro ni Series ya elastike ikora (SEA) itwarwa na moteri ya DC idafite amashanyarazi. Impamyabumenyi zubwisanzure zirimo sisitemu yo gutwara kabili, hamwe ninsinga zo gutwara zihishe ubushishozi hagati yingingo kugirango bitabangamira kugenda. Imikorere ya elastike ikoreshwa mugutanga imbaraga-zumva imbaraga kubiganza. Rukuruzi rwinjijwe mumaboko yose ihujwe na sisitemu yo kumenya. 

## Amaboko
Igishushanyo cyamaboko ya humanoid kirasabwa gushyiramo uburyo bumwe bwo gupima no gusohora imbaraga. Ibishushanyo bike bishaje byari bifite sensor sensor zintoki. Mugihe ibi byakorera mubidukikije bizwi, ntabwo bitanga ibitekerezo bihagije byo gukora mubitabo kandi bitazwi. Abagenzuzi bari mumaboko ya Domo bashoboye kumva imbaraga kumutwe umwe. Ibi bituma amaboko akora gufata ikintu nubwo nta cyitegererezo cyubunini bwikintu, imiterere cyangwa ibikoresho.

Buri kiganza kigizwe nintoki eshatu zikoreshwa na moteri enye. Hariho icyuma kimwe kuri buri rutoki naho icya kane ni ukugenzura ikwirakwizwa hagati yintoki ebyiri. Intoki zombi zirakwirakwizwa hakoreshejwe ibikoresho, mugihe icya gatatu kiguma mu mwanya. 

## Ubushobozi
Domo izahuza nibidukikije igerageza imiterere yumubiri yibintu ubikoraho cyangwa ubinyeganyeza. Mubushobozi bwayo harimo kumenya ingano yikintu, gushyira ibintu kumasahani, gusuka abantu ibinyobwa, guhana ibiganza, no guhobera. 

## Imyumvire
Ukoresheje kamera ebyiri zashyizwe kumutwe wacyo hamwe na sisitemu yo gutunganya amashusho, Domo arashobora gusesengura ingano nuburyo imiterere yikintu kugirango yitegure imikoranire. Ibi bikorwa nta bumenyi bwambere bwerekeye ikintu kandi butuma Domo akora imirimo mubidukikije bitazwi.

## Kwiga
Ubwubatsi bwa Domo butuma robot yibuka ibyabaye mbere. Domo ishoboye kwiga kubyerekeye ubushobozi bwayo bwa sensorimotor kandi irashobora guhuza neza modulisiyo yibikorwa byayo ishingiye kubikorwa byakozwe mbere.

## Gukoresha
Amaboko ya Domo yari yarakozwe muburyo buteye ubwoba kandi bushobora gufata ibintu byinshi bitandukanye. Ariko, ibi ntibishobora kugerwaho hatabayeho gushushanya sisitemu ya software kugirango ibe umuhanga mu gucunga abagenzuzi batandukanye kuri buri ngingo. Ibi bituma robot ibasha gukora vuba no guhindura ibikorwa byamaboko. Ibi nibyingenzi kugirango robot ibashe kugerageza gukora imirimo nyayo yisi.

## Reba ibindi

* Jeff + Aaron's spinoff company
* MIT.edu Domo Research
* 
* Cardea Robot

## Shakisha