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Integrating object and grasp recognition for dynamic scene interpretation

Integrating object and grasp recognition for dynamic scene i...

引用

12th International Conference on Advanced Robotics, 2005. ICAR '05

作者： Ekvall, Staffan Kragic, Danica Department of Numerical Analysis and Computer Science Centre for Autonomous Systems Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)0780391772

Understanding and interpreting dynamic scenes and activities is a very challenging problem. In this paper we present a system capable of learning robot tasks from demonstration. Classical robot task programming requires an experienced programmer and a lot of tedious work. In contrast, Programming by Demonstration is a flexible framework that reduces the complexity of programming robot tasks, and allows end-users to demonstrate the tasks instead of writing code. We present our recent steps towards this goal. A system for learning pick-and-place tasks by manually demonstrating them is presented. Each demonstrated task is described by an abstract model involving a set of simple tasks such as what object is moved, where it is moved, and which grasp type was used to move it. © 2005 IEEE.

关键词： Object recognition

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The use of robots in harsh and unstructured field applications

The use of robots in harsh and unstructured field applicatio...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： C. Lundberg H.I. Christensen A. Hedstrom Centre for Autonomous Systems (CAS) Numerical Analysis and Computer Science (NADA) Royal Institute of Technology Stockholm Sweden

Robots have a potential to be a significant aid in high risk, unstructured and stressing situations such as experienced by police, fire brigade, rescue workers and military. In this project we have explored the abilities of today's robot technology in the mentioned fields. This was done by, studying the user, identifying scenarios where a robot could be used and implementing a robot system for these cases. We have concluded that highly portable field robots are emerging to be an available technology but that the human-robot interaction is currently a major limiting factor of today's systems. Further we have found that operational protocols, stating how to use the robots, have to be designed in order to make robots an effective tool in harsh and unstructured field environments.

关键词： Human robot interaction Personal digital assistants Application software Explosives User interfaces Robot sensing systems Portable computers Content addressable storage numerical analysis computer science

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Session summary

Springer Tracts in Advanced Robotics

引用

Springer Tracts in Advanced Robotics 2005年 15卷 57-59页

作者： Christensen, Henrik I. Centre for Autonomous Systems Numerical Analysis and Computer Science Kungl Tekniska Hogskolan SE-10044 Stockholm Sweden

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Integrating object and grasp recognition for dynamic scene interpretation

Integrating object and grasp recognition for dynamic scene i...

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International Conference on Advanced Robotics (ICAR)

作者： S. Ekvall D. Kragic Computational Vision and Active Perception Laboratory Centre for Autonomous Systems Department of Numerical Analysis and Computer Science Royal Institute of Technology Stockholm Sweden

Understanding and interpreting dynamic scenes and activities is a very challenging problem. In this paper, we present a system capable of learning robot tasks from demonstration. Classical robot task programming requires an experienced programmer and a lot of tedious work. In contrast, programming by demonstration is a flexible framework that reduces the complexity of programming robot tasks, and allows end-users to demonstrate the tasks instead of writing code. We present our recent steps towards this goal. A system for learning pick-and-place tasks by manually demonstrating them is presented. Each demonstrated task is described by an abstract model involving a set of simple tasks such as what object is moved, where it is moved, and which grasp type was used to move it

关键词： Layout Robot programming Writing Humans Sensor phenomena and characterization Object recognition computer vision Laboratories numerical analysis computer science

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Biologically inspired embodied evolution of survival

Biologically inspired embodied evolution of survival

引用

Congress on Evolutionary Computation

作者： S. Elfwing E. Uchibe K. Doya H.I. Christensen Centre for Autonomous Systems Numerical Analysis and Computer Science Royal Institute of Technology Stockholm Sweden Neural Computation Unit Okinawa Institute of Science and Technology Uruma Okinawa Japan

Embodied evolution is a methodology for evolutionary robotics that mimics the distributed, asynchronous and autonomous properties of biological evolution. The evaluation, selection and reproduction are carried out by and between the robots, without any need for human intervention. In this paper, we propose a biologically inspired embodied evolution framework, which fully integrates self-preservation, recharging from external batteries in the environment, and self-reproduction, pair-wise exchange of genetic material, into a survival system. The individuals are explicitly evaluated for the performance of the battery capturing task, but also implicitly for the mating task by the fact that an individual that mates frequently has larger probability to spread its gene in the population. We have evaluated our method in simulation experiments and the simulation results show that the solutions obtained by our embodied evolution method were able to optimize the two survival tasks, battery capturing and mating, simultaneously. We have also performed preliminary experiments in hardware, with promising results.

关键词： Evolution (biology) Batteries Genetics Erbium Biological materials Robot vision systems Humans Robotics and automation numerical analysis computer science

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Navigation for human-robot interaction tasks

Navigation for human-robot interaction tasks

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： P. Althaus H. Ishiguro T. Kanda T. Miyashita H.I. Christensen Centre for Autonomous Systems Numerical Analysis and Computer Science Royal Institute of Technology Stockholm Sweden ATR Intelligent Robotics and Communication Laboratories Keihanna Science City Kyoto Japan

One major design goal in human-robot interaction is that the robots behave in an intelligent manner, preferably in a similar way as humans. This constraint must also be taken into consideration when the navigation system for the platform is developed. However, research in human-robot interaction is often restricted to other components of the system including gestures, manipulation, and speech. On the other hand, research for mobile robot navigation focuses primarily on the task of reaching a certain goal point in an environment. We believe that these two problems can not be treated separately for a personal robot that coexists with humans in the same surrounding. Persons move constantly while they are interacting with each other. Hence, also a robot should do that, which poses constraints on the navigation system. This type of navigation is the focus of this paper. Methods have been developed for a robot to join a group of people engaged in a conversation. Preliminary results show that the platform's moving patterns are very similar to the ones of the persons. Moreover, this dynamic interaction has been judged naturally by the test subjects, which greatly increases the perceived intelligence of the robot.

关键词： Navigation Intelligent robots Human robot interaction Mobile robots Indoor environments numerical analysis computer science Cities and towns Testing

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Multi-agent reinforcement learning: using macro actions to learn a mating task

Multi-agent reinforcement learning: using macro actions to l...

引用

2004 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS) (IEEE Cat. No.04CH37566)

作者： S. Elfwing E. Uchibe K. Doya H.I. Christensen CREST Japan Science and Technology Agency Kyoto Japan Centre for Autonomous Systems Numerical Analysis and Computer Science Royal Institute of Technology Stockholm Sweden Neural Computation Project Initial Research Project Okinawa Institute of Science and Technology Gushikawa Okinawa Japan Department of Computational Neurobiology ATR Computational Neuroscience Laboratories Japan

Standard reinforcement learning methods are inefficient and often inadequate for learning cooperative multi-agent tasks. For these kinds of tasks the behavior of one agent strongly depends on dynamic interaction with other agents, not only with the interaction with a static environment as in standard reinforcement learning. The success of the learning is therefore coupled to the agents' ability to predict the other agents behaviors. In this study we try to overcome this problem by adding a few simple macro actions, actions that are extended in time for more than one time step. The macro actions improve the learning by making search of the state space more effective and thereby making the behavior more predictable for the other agent. In this study we have considered a cooperative mating task, which is the first step towards our aim to perform embodied evolution, where the evolutionary selection process is an integrated part of the task. We show, in simulation and hardware, that in the case of learning without macro actions, the agents fail to learn a meaningful behavior. In contrast, for the learning with macro action the agents learn a good mating behavior in reasonable time, in both simulation and hardware.

关键词： Learning Hardware Robot kinematics Game theory Stochastic processes numerical analysis computer science Genetic algorithms Animals Testing

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Automatic map acquisition for navigation in domestic environments

Automatic map acquisition for navigation in domestic environ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： P. Althaus H.I. Christensen Centre for Autonomous Systems Numerical Andysis and Computer Science Royal Institute of Technology Stockholm Sweden

An autonomous robot navigating in its environment needs a map representing the large-scale structure of the setting. There are a variety of different types of maps used in mobile robotics: for example, grid maps, maps containing geometrical beacons, or topological maps. Each of those poses its own constraints on the problem of acquiring the map, where its complexity is a major issue. We present a system that is able to build a topological map of large-scale indoor environments in a semi-autonomous way. This means that a person shows the robot around, interacts with it via a basic interface, the platform is following autonomously, and simultaneously creating the map. The acquisition mechanisms are rather simple and computationally inexpensive, due to the low complexity of the topological map. However, experiments show that this map is sufficient to navigate between arbitrary positions in the environment.

关键词： Robot sensing systems Large-scale systems Sonar navigation Mobile robots computer science Robotics and automation Sensor systems Indoor environments Data mining Sonar measurements

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Vision and tactile sensing for real world tasks

Vision and tactile sensing for real world tasks

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IEEE International Conference on Robotics and Automation (ICRA)

作者： D. Kragic S. Crinier D. Brunn H.I. Christensen Centre for Autonomous Systems Numerical Analysis and Computer Science Royal Institute of Technology Stockholm Sweden

Robotic fetch-and-carry tasks are commonly facilitated to demonstrate a number of research directions such as navigation, mobile manipulation, systems integration, etc. As a part of an integrated system in terms of a service robot framework, this paper describes a set of methods for real-world object manipulation tasks. We concentrate here on two particular parts of a manipulation sequence: i) robust visual servoing, and ii) grasping strategies. In terms of visual servoing we discuss the handling of singularities during a manipulation sequence. For grasping, we present a biologically motivated strategy using tactile feedback.

关键词： Robustness Robot sensing systems Visual servoing Mobile robots Service robots Machine vision Grasping numerical analysis computer science Mobile computing

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Outdoor exploration and SLAM using a compressed filter

Outdoor exploration and SLAM using a compressed filter

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IEEE International Conference on Robotics and Automation (ICRA)

作者： J. Folkesson H. Christensen Centre for Autonomous Systems Numerical Analysis and Computer Science Royal Institute of Technology Stockholm Sweden

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