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Automating Active Stereo Vision Calibration Process with Cobots

IFAC-PapersOnLine 2017年第2期50卷 163-168页

作者： Mohamed, Abdulla Culverhouse, Phil F. De Azambuja, Ricardo Cangelosi, Angelo Yang, Chenguang Centre for Robotics & Neural Systems Plymouth University United Kingdom Zienkiewicz Centre for Computational Engineering Swansea University United Kingdom

Collaborative robots help the academia and industry to accelerate the work by introducing a new concept of cooperation between human and robot. In this paper, a calibration process for an active stereo vision rig has been automated to accelerate the task and improve the quality of the calibration. As illustrated in this paper by using Baxter Robot, the calibration process has been done faster by three times in comparison to the manual calibration that depends on the human. The quality of the calibration was improved by 120% when the Baxter robot was used. © 2017

关键词： Stereo vision Calibration Robots Stereo image processing Active stereo vision Calibration process Collaborative robots Manual calibration Robotic systems

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Stereo Vision based Object Tracking Control for a Movable Robot Head

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IFAC-PapersOnLine 2016年第5期49卷 155-162页

作者： Mohamed, Abdulla Yang, Chenguang Cangelosi, Angelo Centre for Robotics and Neural Systems Plymouth University United Kingdom Zienkiewicz Centre for Computational Engineering Swansea University United Kingdom

In this paper, we have developed a visual tracking control system on a purposely built movable robot head mounted on a Baxter robot. The tracking control algorithm used a stereo vision system provided by a Bumblebee camera, facilitated by the MATLAB computer vision toolbox. The objective of this work is to enable a robot to move its head as in a similar manner as our humans beings to focus vision on a moving object. Identification of object and estimation of its coordinate are performed based on image processing techniques. A fuzzy logic technique is applied to control the moving head in order to bring human like motion into the robot. The method developed in this work can be extended to any other movable robot head platform. Extensive experimental studies have been performed to test the effectiveness and efficiency of the proposed method. © 2016

关键词： Stereo image processing Computer circuits Computer control systems Fuzzy logic Image processing Navigation Robots Stereo vision Tracking (position) Visual servoing Effectiveness and efficiencies Fuzzy logic techniques Human like motion Image processing technique Object Tracking Stereo vision system Tracking control algorithms Visual tracking control

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Memory-centred architectures: Perspectives on human-level cognitive competencies

Memory-centred architectures: Perspectives on human-level co...

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2011 AAAI Fall Symposium

作者： Baxter, Paul Wood, Rachel Morse, Anthony Belpaeme, Tony Centre for Robotics and Neural Systems University of Plymouth United Kingdom

ISBN: (纸本)9781577355458

In the context of cognitive architectures, memory is typically considered as a passive storage device with the sole purpose of maintaining and retrieving information relevant to ongoing cognitive processing. If memory is instead considered to be a fundamentally active aspect of cognition, as increasingly suggested by empirically-derived neurophysiological theory, this passive role must be reinterpreted. In this perspective, memory is the distributed substrate of cognition, forming the foundation for cross-modal priming, and hence soft cross-modal coordination. This paper seeks to describe what a cognitive architecture based on this perspective must involve, and initiates an exploration into how human-level cognitive competencies (namely episodic memory, word label conjunction learning, and social behaviour) can be accounted for in such a low-level framework. This proposal of a memory-centred cognitive architecture presents new insights into the nature of cognition, with benefits for computational implementations such as generality and robustness that have only begun to be exploited. Copyright © 2011, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Cognitive systems

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Modelling object perception in cortex: Hierarchical Bayesian networks and belief propagation

Modelling object perception in cortex: Hierarchical Bayesian...

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Annual Conference on Information Sciences and systems

作者： Dura-Bernal, Salvador Wennekers, Thomas Denham, Susan L. Centre for Robotics and Neural Systems University of Plymouth Plymouth United Kingdom

ISBN: (纸本)9781424498475

Hierarchical generative models and Bayesian belief propagation have been shown to provide a theoretical framework that can account for perceptual processes, including feedback modulation. The framework explains both psychophysical and physiological experimental data and maps well onto the hierarchical distributed cortical anatomy. The complexity required to model cortical processes makes inference, even using approximate methods, very computationally expensive. Thus, existing models are typically limited to tree-structured networks with no loops, use small toy examples or fail to account for certain perceptual aspects such as invariance to transformations or feedback reconstruction. © 2011 IEEE.

关键词： Belief propagation

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Humanoid robot gait generator: Foot steps calculation for trajectory following

Humanoid robot gait generator: Foot steps calculation for tr...

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15th Annual Conference on Advances in Autonomous robotics systems, TAROS 2014

作者： Garton, Horatio Bugmann, Guido Culverhouse, Phil Roberts, Stephen Simpson, Claire Santana, Aashish Centre for Robotics and Neural Systems Plymouth University Plymouth United Kingdom

ISBN: (纸本)9783319104003

During bipedal gait, a robot falls from one foot to the other. This motion can be approximated with that of an inverted pendulum with discrete movements of the contact point. We detail here how to use the linear inverted pendulum model (LIPM) for selecting successive contact points in such a way that the centre of mass (COM) of the robot flexibly follows a predefined set of waypoints on a straight or curved trajectory, allowing it to move forward, stop and revert its direction of motion in stable way. The use of a fixed step cycle duration reduces the mathematical complexity and the computational load, enabling real-time updating of gait parameters in a microcontroller. © 2014 Springer International Publishing.

关键词： Anthropomorphic robots

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Modelling Concept Prototype Competencies using a Developmental Memory Model

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Paladyn 2012年第4期3卷 200-208页

作者： Baxter, Paul De Greeff, Joachim Wood, Rachel Belpaeme, Tony Centre for Robotics and Neural Systems Cognition Institute Plymouth University United Kingdom Intelligent Computer Systems Faculty of Information & Communication Technology University of Malta Malta

The use of concepts is fundamental to human-level cognition, but there remain a number of open questions as to the structures supporting this competence. Specifically, it has been shown that humans use concept prototypes, a flexible means of representing concepts such that it can be used both for categorisation and for similarity judgements. In the context of autonomous robotic agents, the processes by which such concept functionality could be acquired would be particularly useful, enabling flexible knowledge representation and application. This paper seeks to explore this issue of autonomous concept acquisition. By applying a set of structural and operational principles, that support a wide range of cognitive competencies, within a developmental framework, the intention is to explicitly embed the development of concepts into a wider framework of cognitive processing. Comparison with a benchmark concept modelling system shows that the proposed approach can account for a number of features, namely concept-based classification, and its extension to prototype-like functionality. © 2012 Paul Baxter et al.

关键词： Knowledge representation

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Pervasive Memory: The future of long-term social HRI lies in the past

Pervasive Memory: The future of long-term social HRI lies in...

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50th Annual Convention of the Society for the Study of Artificial Intelligence and the Simulation of Behaviour , AISB 2014

作者： Baxter, Paul Belpaeme, Tony Centre for Robotics and Neural Systems Cognition Institute Plymouth University United Kingdom

The technologies underlying long-term social Human-Robot Interaction (sHRI) continually advance, with impressive results. However, applications typically remain on relatively short time-scales, or if long-term, are more focussed on the human perspective than that of the robot. What are still missing are the broader theories of temporal organisation of robot social behaviour for long-term interaction, and more particularly, how experience informs the adaptivity of behaviour. Based on this necessity, we propose in this position paper that memory should play a more central role in accounts of sHRI. Specifically, we introduce the concept of "Pervasive Memory", i.e. a broader notion of memory than is typically used: memory as underlying and involved in all aspects of social behaviour, beyond the mere passive storage of (symbolic) semantic information. The working hypothesis is that by committing to such a perspective, an integrated and coherent approach to long-term sHRI can be formulated. A number of examples are described in this position paper, including studies currently under way, to support this approach. We suggest that, in this sense, the future development of social robotics really does lie in the past.

关键词： Semantics

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Can less be more? the impact of robot social behaviour on human learning

Can less be more? the impact of robot social behaviour on hu...

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AISB Convention 2015

作者： Kennedy, James Baxter, Paul Belpaeme, Tony Centre for Robotics and Neural Systems Cognition Institute Plymouth University United Kingdom

In a large number of human-robot interaction (HRI) studies, the aim is often to improve the social behaviour of a robot in order to provide a better interaction experience. Increasingly, companion robots are not being used merely as interaction partners, but to also help achieve a goal. One such goal is education, which encompasses many other factors such as behaviour change and motivation. In this paper we question whether robot social behaviour helps or hinders in this context, and challenge an often underlying assumption that robot social behaviour and task outcomes are only positively related. Drawing on both human-human interaction and human-robot interaction studies we hypothesise a curvilinear relationship between social robot behaviour and human task performance in the short-term, highlighting a possible trade-off between social cues and learning. However, we posit that this relationship is likely to change over time, with longer interaction periods favouring more social robots.

关键词： Economic and social effects

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Head Pose Estimation is an Inadequate Replacement for Eye Gaze in Child-Robot Interaction 10

Head Pose Estimation is an Inadequate Replacement for Eye Ga...

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10th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2015

作者： Kennedy, James Baxter, Paul Belpaeme, Tony Centre for Robotics and Neural Systems Cognition Institute Plymouth University United Kingdom

ISBN: (纸本)9781450333184

Gaze analysis of human-robot interactions can reveal much about the dynamics of the interaction and be a useful step in establishing levels of engagement and attention. Currently, much of this work has to be conducted manually through post-hoc video coding due to current limitations in non-invasive, real-time gaze tracking solutions. This paper assesses whether real-time head pose estimation from an RGB-D camera may be used in place of manual post-hoc coding of gaze direction. Using data collected from an experiment 'in the wild', it is found that the proposed RGB-D based pose estimation method is neither accurate nor consistent enough to provide a reliable measure of gaze within human-robot interactions. © 2015 Authors.

关键词： Cameras

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Cognitive architecture for human-robot interaction: Towards behavioural alignment

Cognitive architecture for human-robot interaction: Towards ...

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作者： Baxter, Paul E. De Greeff, Joachim Belpaeme, Tony Centre for Robotics and Neural Systems Cognition Institute Plymouth University United Kingdom

With increasingly competent robotic systems desired and required for social human-robot interaction comes the necessity for more complex means of control. Cognitive architectures (specifically the perspective where principles of structure and function are sought to account for multiple cognitive competencies) have only relatively recently been considered for application to this domain. In this paper, we describe one such set of architectural principles - activation dynamics over a developmental distributed associative substrate - and show how this enables an account of a fundamental competence for social cognition: multi-modal behavioural alignment. Data from real human-robot interactions is modelled using a computational system based on this set of principles to demonstrate how this competence can therefore be considered as embedded in wider cognitive processing. It is shown that the proposed system can model the behavioural characteristics of human subjects. While this study is a simulation using real interaction data, the results obtained validate the application of the proposed approach to this issue. © 2013 Elsevier B.V. All rights reserved.

关键词： Human robot interaction

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