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Building an autonomous humanoid tool user

Building an autonomous humanoid tool user

引用

IEEE-RAS International Conference on Humanoid Robots

作者： W. Bluethmann R. Ambrose M. Diftler E. Huber A. Fagg M. Rosenstein R. Platt R. Grupen C. Breazeal A. Brooks A. Lockerd R.A. Peters O.C. Jenkins M. Mataric M. Bugajska NASA Johnson Space Center Houston TX USA Dexterous Robotic Laboratory Houston TX USA Computer Science Department University of Massachusetts Amherst MA USA MIT Media Lab Massachusetts Institute of Technology Cambridge MA USA Electrical Engineering & Computer Science Vanderbilt University Nashville TN USA Computer Science Department University of Southern California Los Angeles CA USA Computer Science Department Unversity of Southern California Los Angeles CA USA Navy Cenfer for Applied Research in Artificial Intelligence Naval Research Laboratory (NRL) Washington DC Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory (NRL) Washington DC

To make the transition from a technological curiosity to productive tools, humanoid robots will require key advances in many areas, including, mechanical design, sensing, embedded avionics, power, and navigation. Using the NASA Johnson Space Center's Robonaut as a testbed, the DARPA mobile autonomous robot software (MARS) humanoids team is investigating technologies that will enable humanoid robots to work effectively with humans and autonomously work with tools. A novel learning approach is being applied that enables the robot to learn both from a remote human teleoperating the robot and an adjacent human giving instruction. When the remote human performs tasks teleoperatively, the robot learns the salient sensory-motor features to executing the task. Once learned, the task may be carried out fusing the skills required to perform the task, guided by on-board sensing. The adjacent human takes advantage of previously learned skills to sequence the execution of these skills. Preliminary results from initial experiments using a drill to tighten lug nuts on a wheel are discussed.

关键词： Humans Robot sensing systems Space technology Humanoid robots Aerospace electronics Orbital robotics Buildings Navigation NASA Software testing

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Real-time driver affect analysis and tele-viewing system

Real-time driver affect analysis and tele-viewing system

引用

IEEE Symposium on Intelligent Vehicle

作者： J.C. McCall S.P. Mallick M.M. Trivedi Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of California San Diego USA

This paper deals with the development of novel sensory systems and interfaces to enhance the safety of a driver who may be using a cell phone. It describes a system for real time affect analysis and Tele-viewing in order to bring the context of the driver to remote users. The system is divided into two modules. The affect recognition module recognizes six emotional states of the driver. The face-modeling module generates a 3D model of the driver's face using two images and synthesizes the emotions on it. Depending on bandwidth, either a raw video, 3D warped model, or an iconic representation is sent to the remote user.

关键词： Real time systems Cellular phones Face detection Hidden Markov models Tracking loops Safety Emotion recognition Bandwidth Image reconstruction computer vision

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Real-time stereo-based vehicle occupant posture determination for intelligent airbag deployment

Real-time stereo-based vehicle occupant posture determinatio...

引用

IEEE Symposium on Intelligent Vehicle

作者： T.D. Schoenmackers M.M. Trivedi Department of Electrical and Computer Engineering Computer Vision and Robotics Research Laboratory University of California San Diego La Jolla CA USA

From 1990 to April 2002, according to the National Highway Traffic Safety Administration (NHTSA), airbag deployment has been responsible for 208 deaths in low-severity crashes. Of these deaths, 107 were children between the ages of 1 and 11, 22 were infants, and 32 were women under the height of five feet two inches. In addition to deaths, airbags are responsible for many more incidental injuries and broken bones. These injuries could be avoided if the system had an accurate model of the actual pose of the occupant. This paper discusses a system we are developing to accurately determine the position of the head, torso, and arms of the front-seat occupant of a vehicle.

关键词： Intelligent vehicles Head Intelligent robots US department of Transportation Pediatrics Injuries Torso Intelligent sensors Road vehicles Vehicle safety

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Driver's view and vehicle surround estimation using omnidirectional video stream

Driver's view and vehicle surround estimation using omnidire...

引用

IEEE Symposium on Intelligent Vehicle

作者： K.S. Huang M.M. Trivedi T. Gandhi Computer Vision and Robotics Research (CVRR) Laboratory Department of Electrical and Computer Engineering University of California San Diego La Jolla CA USA

Our research is focused on the development of novel machine vision based telematic systems, which provide non-intrusive probing of the state of the driver and driving conditions. In this paper we present a system which allows simultaneous capture of the driver's head pose, driving view, and surroundings of the vehicle. The integrated machine vision system utilizes a video stream of full 360 degree panoramic field of view. The processing modules include perspective transformation, feature extraction, head detection, head pose estimation, driving view synthesis, and motion segmentation. The paper presents a multi-state statistical decision models with Kalman filtering based tracking for head pose detection and face orientation estimation. The basic feasibility and robustness of the approach is demonstrated with a series of systematic experimental studies.

关键词： Vehicle driving Streaming media Magnetic heads Machine vision Face detection Telematics Feature extraction Motion detection Motion estimation Motion segmentation

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Textual message read by a mobile robot

Textual message read by a mobile robot

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： D. Letourneau F. Michaud J.-M. Valin C. Proulx Department of Electrical Engineering and Computer Engineering Universite de Sherbrooke LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems Sherbrooke Quebec CANADA

Giving the ability to read characters and symbols is highly desirable for increased autonomy of mobile robots operating in the real world. The idea is fairly simple: give a robot the ability to acquire an image of a message to read, extract the symbols and recognize them. Image character recognition research has been going on for decades now, with good results. But compared to conventional character recognition systems, the challenge with a mobile robot is to find a textual message to capture in the world and to get a good view of the message, knowing that the viewpoint of the robot depends on its position in relation to the message, which cannot be pre-specified. In this paper we present our approach making it possible for an autonomous mobile robot to read messages. We outline the constraints under which the approach works, and present results obtained using a Pioneer 2 robot equipped with a Pentium 233 MHz and a pan-tilt-zoom camera.

关键词： Mobile robots Robot vision systems Cameras Intelligent robots Character recognition Image recognition Navigation Laboratories Mobile computing Intelligent systems

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A dual high gain controller for the uncertain generalized output-feedback canonical form with appended dynamics driven by all states

A dual high gain controller for the uncertain generalized ou...

引用

American Control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami Control Robotics Research Laboratory(CRRL)Department of Electncal and Computer Engineering Polytechnic University Brooklyn NY USA

In this paper, we propose a global high gain scaling based observer/controller for nonlinear systems with appended input-to-state stable (ISS) dynamics which are allowed to have finite nonlinear gains from all system states. This represents a significant generalization from existing results which require the appended dynamics to be ISS with respect to the output i.e., require the gains from other states to be zero. The restriction on the appended ISS dynamics imposed in previous results is due to the form of the Lyapunov functions generated in the backstepping design utilized which prevents gains from states of appended dynamics to system states other than the output to be effectively assigned. The proposed design utilizes the dual architecture of a high gain observer and controller with the underlying state scaling being dynamically output-dependent. The proposed observer/controller structure provides a globally asymptotically stabilizing output-feedback solution. Furthermore, time varying nonlinear parametric uncertainty is allowed to occur coupled with unmeasured states in the system dynamics.

关键词： Nonlinear dynamical systems Lyapunov method Control systems Nonlinear control systems Robot control Laboratories Nonlinear systems Backstepping Uncertainty Couplings

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An exponential class of model-free visual servoing controllers in the presence of uncertain camera calibration

An exponential class of model-free visual servoing controlle...

引用

IEEE Conference on Decision and Control

作者： Y. Fang W.E. Dixon D.M. Dawson J. Chen Department of Electrical & Computer Engineering Clemson University Clemson SC USA Engineering Science and Tech. Division-Robotics Oak Ridge National Laboratory Oak Ridge TN USA

ISBN: (纸本)0780379241

In recent papers, a new class of model-free (i.e., the 3-dimensional task-space model of the object is unknown) visual servoing methods was proposed that are based on the estimation of the relative camera orientation between two views of an object. By utilizing homography-based techniques, the control problem is decoupled by separating the rotation and translation components. A single controller is used to control the rotation component, and the class members consist of various translation controllers. Each of the current class members has been proven to yield asymptotic regulation in the presence of uncertainty in the intrinsic and extrinsic calibration parameters. New control development and stability analysis techniques are crafted in this paper to develop a new translation controller that yields exponential rotation and translation regulation in the presence of uncertainty in the intrinsic and extrinsic calibration parameters. Extensions to this research can be used to yield exponential regulation by the other translation controllers in the asymptotic class presented.

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Supply chain performance evaluation: a simulation study

Supply chain performance evaluation: a simulation study

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Yan Tu P.B. Luh Weidong Feng K. Narimatsu Department of Electrical and Computer Engineering University of Connecticut CT USA System Engineering Laboratory Research and Development Center Toshiba Corporation Kawasaki Japan

As more and more companies are relying on their suppliers to provide raw materials or component parts, effective coordination and inventory management of supply chain members became critical issues. Various methods including information sharing and postponing strategy have been explored to improve supply chain performance. However, questions regarding what information to share and the benefits under different conditions for different members are not fully understood. This paper presents a simulation study on a three-level infinite capacity supply chain through a systematic design of experiments. Independent variables include lead times, information sharing patterns, demand uncertainties, and service levels. It is shown through the analysis of means and the analysis of variance that one-way full information sharing is sufficient to achieve good performance. The types of benefit received by different members, however, are different. Furthermore, as more information is shared, the benefit from postponing customization decreases.

关键词： Supply chains Analysis of variance Manufacturing Supply chain management Uncertainty Information analysis Raw materials Costs Computational modeling Systems engineering and theory

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An overview of RoboCup-2002 Fukuoka/Busan

An overview of RoboCup-2002 Fukuoka/Busan

引用

作者： Asada, Minoru Obst, Oliver Polani, Daniel Browning, Brett Bonarini, Andrea Fujita, Masahiro Christaller, Thomas Takahashi, Tomoichi Tadokoro, Satoshi Sklar, Elizabeth Kaminka, Gal A. Dept. of Adaptive Machine Systems Osaka University Osaka Japan University of Koblenz-Landau Artificial Intelligence Group Koblenz Germany University of Hertfordshire Hertfordshire United Kingdom Robotics Institute Carnegie Mellon University Pittsburgh PA United States Department of Electronics Politecnico di Milano Milano Italy GMD-Japan Research Laboratory Kitakyushu Japan Department of Computer Engineering Kobe University Kobe Japan Computer Science Department Ber Ilan University Ramat Gan Israel Computer Science Department Carnegie Mellon University Pittsburgh PA United States

This article reports on the Sixth Robot World Cup Competition and Conference (RoboCup-2002) Fukuoka/Busan, which took place from 19 to 25 June in Fukuoka, Japan. It was the largest RoboCup since 1997 and held the first humanoid league competition in the world. Further, the first ROBOTREX (robot trade and exhibitions) was held with about 50 companies, universities, and institutes represented. A total of 117,000 spectators witnessed this marvelous event, To the best of our knowledge, this was the largest robotic event in history.

关键词： Artificial intelligence

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Connectivity-through-time protocols for dynamic wireless networks to support mobile robot teams

Connectivity-through-time protocols for dynamic wireless net...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： N.S.V. Rao Qishi Wu S.S. Iyengar A. Manickam Center for Engineering Science Advanced Research Oak Ridge National Laboratory Oak Ridge TN USA Department of Computer Science Louisiana State University Baton Rouge LA USA Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

Mobile robot teams are increasingly deployed in various applications involving remote operations in unstructured environments that do not support wireless network infrastructures. We propose a class of protocols based on the connectivity-through-time concepts that exploit the robot movements to extend the traditional notions of network connectivity. These protocols enable the formation of adhoc networks of mobile robots without the infrastructure of access points by utilizing the robots as routers. These protocols are implemented as a collection of daemons that track connectivity changes, compute single and multiple hop connectivity, route the packets via robots with suitable buffering, and adapt the transport parameters to the connection characteristics. The implementation employs UDP with window-based flow control that is tuned to the nature of connections. We present experimental performance results based on our implementation on robot teams to illustrate the salient features of this approach.

关键词： Wireless application protocol Wireless networks Mobile robots Robot kinematics Wireless sensor networks Humans Access protocols Medical robotics Robot sensing systems Space technology

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