DOCSLIB.ORG

Genoa Giorgio Metta & the Icub Team

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Genoa Giorgio Metta & the Icub Team iCub a shared platform for research in robotics & AI Genoa June 25, 2015 Giorgio Metta & the iCub team Istituto Italiano di Tecnologia Via Morego, 30 - Genoa, Italy we have a dream 6/25/2015 3 the iCub price: 250K€ 30 iCub distributed since 2008 about 3-4 iCub’s/year 6/25/2015 4 why is the iCub special? • hands: we started the design from the hands – 5 fingers, 9 degrees of freedom, 19 joints • sensors: human-like, e.g. no lasers – cameras, microphones, gyros, encoders, force, tactile… • electronics: flexibility for research – custom electronics, small, programmable (DSPs) • reproducible platform: community designed − reproducible & maintainable yet evolvable platform − large software repository (~2M lines of code) 6/25/2015 5 why humanoids? • scientific reasons – e.g. elephants don’t play chess • natural human-robot interaction • challenging mechatronics • fun! 6/25/2015 6 why open source? • repeatable experiments • benchmarking • quality this resonates with industry-grade R&D in robotics 6/25/2015 7 open source 6/25/2015 8 6/25/2015 9 series-elastic actuators • C spring design • 320Nm/rad stiffness • features: – stiffness by design – no preloading necessary (easy assembly) – requires only 4 custom mechanical parts – high resolution encoder for torque sensing 6/25/2015 10 Yet Another Robot Platform • YARP is an open-source (LGPL) middleware for humanoid robotics •history 2001-2002 – an MIT / Univ. of Genoa collaboration 2000-2001 – born on Kismet, grew on COG, under QNX – with a major overhaul, now used by the iCub project 2003 • C++ source code (some 400K lines) • IPC & hardware interface 2004-Today • portable across OSs and development platforms 6/25/2015 11 exploit diversity: portability • operating system portability: – Adaptive Communication Environment, C++ OS wrapper: e.g. threads, semaphores, sockets • development environment portability: –CMake • language portability: – via Swig: Java (Matlab), Perl, Python, C# C/C++ library C/C++ C/C++ library library C/C++ library 6/25/2015 12 wiki & manual SVN & GIT part lists drawings 6/25/2015 13 iCub sensors 6/25/2015 14 torque control 0 ∙ ̂ ∙ ̂ ∙ ∙ ∙ ∙ ∙ 6/25/2015 15 learning dynamics • learning body dynamics – compute external forces – implement compliant control • so far we did it starting from e.g. the cad models – but we’d like to avoid it 6/25/2015 16 our method in 4 easy steps • regularized least square f x wT x 2 1 2 minJ w y Xw w 2 2 1 w I X T XT X y • kernelized m f x ci k , xi x i 1 c K I1 y 1 D k x, x E z xT z x • approximate kernel i j wd i wd j D d 1 T T zw x cos w x , sin w x T 1 T • ake it incrementalmw I y + Cholesky rank-1 update 6/25/2015 17 properties • O(1) update complexity w.r.t. # training samples • exact batch solution after each update • dimensionality of feature mapping trades computation for approximation accuracy • O(D²) time and space complexity per update w.r.t. dimensionality of feature mapping • easy to understand/implement (few lines of code) • not exclusively for dynamics/robotics learning! 6/25/2015 18 batch experiments • 3 inverse dynamics datasets: Sarcos, Simulated Sarcos, Barrett [Nguyen-Tuong et al., 2009] • approximately 15k training and 5k test samples • comparison with LWPR, GPR, LGP, Kernel RR • RFRR with 500, 1000, 2000 random features • hyperparameter optimization by exploiting functional similarity with GPR (log marginal likelihood optimization) 6/25/2015 19 datasets 6/25/2015 20 6/25/2015 21 6/25/2015 22 6/25/2015 23 incremental experiments 6/25/2015 24 incremental experiments 6/25/2015 25 temperature compensation 6/25/2015 26 summary • Fast prediction and model update of RFRR – 200RF: 400μs – 500RF: 2ms – 1000RF: 7ms • Non-stationary: thermal sensor drift in force components • Rapid convergence of RFRR • No further gain by using additional random features (problem specific) 6/25/2015 27 experiments & model validation static configuration: an additional six axis F/T sensor is placed at the end effector to measures the external wrenches we in this experiment we consider the following quantities: • joint torques measured by the joint torque sensors: tj • joint torques computed from the arm F/T sensor: tFT • joint torques estimated thought the additional F/T sensor located T at the end effector: te=J we • joint torques predicted by the arm model (no external forces): tm additional F/T sensor at Joint 0 Joint 1 Joint 2 Joint 3 E(τ-τ ) 0.127 Nm -0.049 Nm -0.002 Nm -0.032 Nm the end-effector j ft σ(τj-τft) 0.186 Nm 0.131 Nm 0.013 Nm 0.042 Nm E(τj-(τm+τe)) 0.075 Nm -0.098 Nm -0.006 Nm 0.006 Nm σ(τj-(τm+τe)) 0.191 Nm 0.173 Nm 0.020 Nm 0.032 Nm 6/25/2015 28 the robot skin ground plane: e.g. conductive fabric parameters: mechanical properties, impedance, etc. soft material: e.g. silicone parameters: dielectric constant, mechanical stiffness, etc. capacitor electrodes: etched on a flexible PCB parameters: shape, folding, etc. 6/25/2015 29 principle lots of sensing points structure of the skin 6/25/2015 30 tests of various materials 120 Soma Foama Hard PDMS Soma Foama Soft 100 Neoprene2mm SpongeRubberLycra NeopreneGrid2mm 80 NeoGridNeobulkLycra NeoGridNeobulkLycra2 Neoprene2mmLycra 60 NeopreneGrid3mm C [bit] C 40 Others (discarded) 20 0 0 2 4 6 8 10 12 14 16 18 LC [kPa] 6/25/2015 31 latest implementation advantages: • good performance: gluing is made with industrial machines, no hysteresis due to glue • production: automatic and reliable • mounting and replacing is easy, easy ground connection • protective layer can be of different materials increase reliability • customizations: surface can be printed 6/25/2015 32 6/25/2015 33 skin calibration performed manually by poking the robot with a tool works iteratively with different datasets taken in different robot positions A. Del Prete, S. Denei, L. Natale, F. Mastrogiovanni, F. Nori, G. Cannata, and G. Metta. “Skin spatial calibration using force/torque measurements”, in Intelligent Robots and Systems (IROS), 2011 6/25/2015 34 6/25/2015 35 6/25/2015 36 6/25/2015 37 project CoDyCo, Nori et al. 6/25/2015 38 floating base robots 6/25/2015 39 6/25/2015 40 6/25/2015 41 6/25/2015 42 6/25/2015 43 point to point movements 6/25/2015 44 ipopt ∈ . • quick convergence (<20ms) • scalability • singularities and joints bound handling • tasks hierarchy • complex constraints 1 min , 2 . ∙ • merges joint and Cartesian space trajectories 6/25/2015 45 6/25/2015 46 6/25/2015 47 6/25/2015 48 Could you please help Please put me with the those into the TV set? dishwashing machine The iCub puts the plates into the dishwashing machine Trueswell, J. C., & Gleitman, L. R. (2007) Learning to parse and its implications for language acquisition, in G. Gaskell (ed.) Oxford Handbook of Psycholing. Oxford: Oxford Univ. Press. 6/25/2015 49 The iCub puts the plates into the dishwashing machine actions objects tools 6/25/2015 50 actions objects tools learn learning actions learning objects learning tools use recognizing actions recognizing objects using tools 6/25/2015 51 Ranked 2nd at Microsoft Kinect Demonstration Competition, CVPR 2012 Providence, Rhode Island 6/25/2015 52 object recognition self-supervised strategies kinematics motion Human Robot Interaction is a new and natural application for visual recognition In robotics settings strong cues are often available, therefore object detectors can be avoided Recognition as tool for complex tasks: grasp, manipulation, affordances, pose S.R. Fanello, C. Ciliberto, L. Natale, G. Metta – Weakly Supervised Strategies for Natural Object Recognition in Robotics, ICRA 2013 C. Ciliberto, S.R. Fanello, M. Santoro, L. Natale, G. Metta, L. Rosasco - On the Impact of Learning Hierarchical Representations for Visual Recognition in Robotics, IROS 2013 6/25/2015 53 6/25/2015 54 dataset 6/25/2015 55 iCubWorld dataset (2.0) • Growing dataset collecting images from a real robotic setting • Provide the community with a tool for benchmarking visual recognition systems in robotics • 28 Objects, 7 categories, 4 sessions of acquisition (four different days) • 11Hz acquisition frequency. • ~50K Images http://www.iit.it/en/projects/data-sets.html 6/25/2015 56 methods 6/25/2015 57 methods Sparse Coding [yang et al. ’09] Learned on iCubWorld Overfeat [sermanet et al. ’14] Learned on Imagenet 6/25/2015 58 some questions • Scalability. How do iCub recognition capability decrease as we add more objects to distinguish? • Can we use assumptions on physical continuity to make recognition more stable? • Incremental Learning. How does learning during multiple sessions affect the system recognition skills? • Generalization. How well does the system recognize objects “seen” under different settings? 6/25/2015 59 first results We started by addressing instance recognition 6/25/2015 60 performance wrt # of objects 6/25/2015 61 exploiting continuity in time 6/25/2015 62 incremental learning Cumulative learning on the 4 days of acquisition. Tested on: • Present: test on current day 1 • Causal: test on current and 0.95 past days 0.9 0.85 • Future: test on future days 0.8 (current not included) OF present 0.75 OF causal • Independent: train & test on 0.7 OF future OF Independent current day only 0.65 1 2 3 4 accuracy (avg. over classes) day 6/25/2015 63 what about a week? 1 0.95 0.9 0.85 ? 0.8 OF present 0.75 OF causal 0.7 OF future OF Independent 0.65 1 2 3 4 5 6 7 accuracy (avg.
Load more

Recommended publications
  • Lower Body Design of the `Icub' a Human-Baby Like Crawling Robot
    CORE Metadata, citation and similar papers at core.ac.uk Provided by University of Salford Institutional Repository Lower Body Design of the ‘iCub’ a Human-baby like Crawling Robot N.G.Tsagarakis M. Sinclair F. Becchi Center of Robotics and Automation Center of Robotics and Automation TELEROBOT University of Salford University of Salford Advanced Robotics Salford , M5 4WT, UK Salford , M5 4WT, UK 16128 Genova, Italy [email protected] [email protected] [email protected] G. Metta G. Sandini D.G.Caldwell LIRA-Lab, DIST LIRA-Lab, DIST Center of Robotics and Automation University of Genova University of Genova University of Salford 16145 Genova, Italy 16145 Genova, Italy Salford , M5 4WT, UK [email protected] [email protected] [email protected] Abstract – The development of robotic cognition and a human like robots has led to the development of H6 and H7 greater understanding of human cognition form two of the [2]. Within the commercial arena there were also robots of current greatest challenges of science. Within the considerable distinction including those developed by RobotCub project the goal is the development of an HONDA. Their second prototype, P2, was introduced in 1996 embodied robotic child (iCub) with the physical and and provided an important step forward in the development of ultimately cognitive abilities of a 2 ½ year old human full body humanoid systems [3]. P3 introduced in 1997 was a baby. The ultimate goal of this project is to provide the scaled down version of P2 [4]. ASIMO (Advanced Step in cognition research community with an open human like Innovative Mobility) a child sized robot appeared in 2000.
    [Show full text]
  • Robot Mediated Communication
    UNIVERSITY OF THE WEST OF ENGLAND ROBOT MEDIATED COMMUNICATION: ENHANCING TELE-PRESENCE USING AN AVATAR HAMZAH ZIYAAD HOSSEN MAMODE 10/08/2015 A thesis submitted in partial fulfilment of the requirements of the University of the West of England, Bristol for the degree of Doctor of Philosophy Faculty of Environment and Technology University of the West of England, Bristol August 2015 Robot Mediated Communication: Enhancing Tele-presence using an Avatar “If words of command are not clear and distinct, if orders are not thoroughly understood, then the general is to blame.” – Sun Tzu (c. 6th century BCE) P-2 Robot Mediated Communication: Enhancing Tele-presence using an Avatar Declaration I declare that the work in this dissertation was carried out in accordance with the requirements of the University's Regulations and Code of Practice for Research Degree Programmes and that it has not been submitted for any other academic award. Except where indicated by specific reference in the text, the work is the candidate's own work. Work done in collaboration with, or with the assistance of, others, is indicated as such. Any views expressed in the dissertation are those of the author. Signed: Date: P-3 Robot Mediated Communication: Enhancing Tele-presence using an Avatar Abstract In the past few years there has been a lot of development in the field of tele-presence. These developments have caused tele-presence technologies to become easily accessible and also for the experience to be enhanced. Since tele-presence is not only used for tele-presence assisted group meetings but also in some forms of Computer Supported Cooperative Work (CSCW), these activities have also been facilitated.
    [Show full text]
  • Lower Body Design of the 'Icub' a Human-Baby Like Crawling Robot
    Lower Body Design of the ‘iCub’ a Human-baby like Crawling Robot N.G.Tsagarakis M. Sinclair F. Becchi Center of Robotics and Automation Center of Robotics and Automation TELEROBOT University of Salford University of Salford Advanced Robotics Salford , M5 4WT, UK Salford , M5 4WT, UK 16128 Genova, Italy [email protected] G Metta G. Sandini D.G.Caldwell LIRA-Lab, DIST LIRA-Lab, DIST Center of Robotics and Automation University of Genova University of Genova University of Salford 16145 Genova, Italy 16145 Genova, Italy Salford , M5 4WT, UK [email protected] [email protected] [email protected] Abstract – The development of robotic cognition and a which weights 131.4kg forms a complete human like figure greater understanding of human cognition form two of the [1]. At the University of Tokyo which also has a long history current greatest challenges of science. Within the RobotCub of humanoid development, research efforts on human like project the goal is the development of an embodied robotic child robots has led in recent times to the development of H6 and (iCub)with the physical and ultimately cognitive abilities of a 2 H7. H6 has a total of 35 degrees of freedom (D.O.F) and ½ year old human baby. The ultimate goal of this project is weighs 55Kg [2]. Within the commercial arena there were to provide the cognition research community with an open also robots of considerable distinction including those human like platform for understanding of cognitive developed by HONDA. Their second prototype, P2, was systems through the study of cognitive development.
    [Show full text]
  • Design and Realization of a Humanoid Robot for Fast and Autonomous Bipedal Locomotion
    TECHNISCHE UNIVERSITÄT MÜNCHEN Lehrstuhl für Angewandte Mechanik Design and Realization of a Humanoid Robot for Fast and Autonomous Bipedal Locomotion Entwurf und Realisierung eines Humanoiden Roboters für Schnelles und Autonomes Laufen Dipl.-Ing. Univ. Sebastian Lohmeier Vollständiger Abdruck der von der Fakultät für Maschinenwesen der Technischen Universität München zur Erlangung des akademischen Grades eines Doktor-Ingenieurs (Dr.-Ing.) genehmigten Dissertation. Vorsitzender: Univ.-Prof. Dr.-Ing. Udo Lindemann Prüfer der Dissertation: 1. Univ.-Prof. Dr.-Ing. habil. Heinz Ulbrich 2. Univ.-Prof. Dr.-Ing. Horst Baier Die Dissertation wurde am 2. Juni 2010 bei der Technischen Universität München eingereicht und durch die Fakultät für Maschinenwesen am 21. Oktober 2010 angenommen. Colophon The original source for this thesis was edited in GNU Emacs and aucTEX, typeset using pdfLATEX in an automated process using GNU make, and output as PDF. The document was compiled with the LATEX 2" class AMdiss (based on the KOMA-Script class scrreprt). AMdiss is part of the AMclasses bundle that was developed by the author for writing term papers, Diploma theses and dissertations at the Institute of Applied Mechanics, Technische Universität München. Photographs and CAD screenshots were processed and enhanced with THE GIMP. Most vector graphics were drawn with CorelDraw X3, exported as Encapsulated PostScript, and edited with psfrag to obtain high-quality labeling. Some smaller and text-heavy graphics (flowcharts, etc.), as well as diagrams were created using PSTricks. The plot raw data were preprocessed with Matlab. In order to use the PostScript- based LATEX packages with pdfLATEX, a toolchain based on pst-pdf and Ghostscript was used.
    [Show full text]
  • DAC-H3: a Proactive Robot Cognitive Architecture to Acquire and Express
    Preprint version; final version available at http://ieeexplore.ieee.org/ IEEE Transactions on Cognitive and Developmental Systems (Accepted) DOI: 10.1109/TCDS.2017.2754143 1 DAC-h3: A Proactive Robot Cognitive Architecture to Acquire and Express Knowledge About the World and the Self Clément Moulin-Frier*, Tobias Fischer*, Maxime Petit, Grégoire Pointeau, Jordi-Ysard Puigbo, Ugo Pattacini, Sock Ching Low, Daniel Camilleri, Phuong Nguyen, Matej Hoffmann, Hyung Jin Chang, Martina Zambelli, Anne-Laure Mealier, Andreas Damianou, Giorgio Metta, Tony J. Prescott, Yiannis Demiris, Peter Ford Dominey, and Paul F. M. J. Verschure Abstract—This paper introduces a cognitive architecture for I. INTRODUCTION a humanoid robot to engage in a proactive, mixed-initiative exploration and manipulation of its environment, where the HE so-called Symbol Grounding Problem (SGP, [1], [2], initiative can originate from both the human and the robot. The T [3]) refers to the way in which a cognitive agent forms an framework, based on a biologically-grounded theory of the brain internal and unified representation of an external word referent and mind, integrates a reactive interaction engine, a number of from the continuous flow of low-level sensorimotor data state-of-the art perceptual and motor learning algorithms, as well as planning abilities and an autobiographical memory. The generated by its interaction with the environment. In this paper, architecture as a whole drives the robot behavior to solve the we focus on solving the SGP in the context of human-robot symbol grounding problem, acquire language capabilities, execute interaction (HRI), where a humanoid iCub robot [4] acquires goal-oriented behavior, and express a verbal narrative of its own and expresses knowledge about the world by interacting with experience in the world.
    [Show full text]
  • Magic Icub: a Humanoid Robot Autonomously Catching Your Lies in a Card Game
    Magic iCub: a humanoid robot autonomously catching your lies in a card game Dario Pasquali Jonas Gonzalez- Francesco Rea Giulio Sandini Alessandra Sciui RBCS & ICT Billandon RBCS RBCS CONTACT Istituto Italiano di RBCS Istituto Italiano di Istituto Italiano di Istituto Italiano di Tecnologia & DIBRIS, Istituto Italiano di Tecnologia Tecnologia Tecnologia Università di Genova Tecnologia & DIBRIS, Genova, Italy Genova, Italy Genova, Italy Genova, Italy Università di Genova [email protected] [email protected] [email protected] [email protected] Genova, Italy [email protected] ABSTRACT Games are often used to foster human partners’ engagement and 1 Introduction natural behavior, even when they are played with or against Historically, robots always fascinated the public, entertaining the robots. Therefore, beyond their entertainment value, games audience. Indeed, the first recorded example of humanoid robot represent ideal interaction paradigms where to investigate natural was a robotic musical band meant to entertain the guests of an human-robot interaction and to foster robots’ diffusion in the Arabian king [1]. Nowadays, robots can have a role not only in society. However, most of the state-of-the-art games involving task-oriented research or industrial applications, but also in the robots, are driven with a Wizard of Oz approach. To address this field of entertainment. e concept of Entertainment Robotics limitation, we present an end-to-end (E2E) architecture to enable refers to any robotic platform and application not directly useful the iCub robotic platform to autonomously lead an entertaining for a specific task, but rather meant to entertain and amuse magic card trick with human partners.
    [Show full text]
  • The Icub Humanoids Platform
    The iCub humanoids platform Giorgio Metta Sestri Levante, July 21st, 2008 Italian Institute of Technology The iCub: qqyuick summary The iCub is the humanoid baby-robot designed as part of the RobotCub project – The iCub is a full humanoid robot sized as a three and halffy year-old child. – The total height is 104cm. –It has 53 degrees of freedom, including articulated hands to be used for manipulation and gesturing. – The robot will be able to crawl and sit and autonomously transit ion from crawling to sitting and vice-versa. –The robot is GPL/FDL: software, hardware, drawingg,s, documentation, etc. Degrees of freedom • Head: vergence, common tilt + 3 dof neck •Arms: 7 dofeach – Shou lder (3), elbow (1), wrist (3) • Hands: 9 dof each ► 19 joints –5 fingers ► underactuated • Legs: 6 dof each – Hip (3), knee (1), ankle (2) • Waist: 3 dof Σ = 53 dof (not counting the facial expressions) Sensorization • For each joint: – Position (some absolute, some incremental): • Magnetic absolute position sensors • Enco der s • Hall-effect sensors – Torque/tension • Limb level, but work in progress to add joint level torque sensing • Current consumption – Temperature (monitor, safety) • Safe operation (but we have a disclaimer now!) In addition… • Cameras • Force/torque sensors – Developed: not used yet • Microphones, speaker – Pinnae • Gyroscopes, linear accelerometers • Design of the shell, wiring, power supply, additional sensors… – Ongoing • Tactile sensors, skin… – Low-resolution version, fingertips (more later) • Impact, contact, sensors (e.g. for
    [Show full text]
  • Whole-Body Strategies for Mobility and Manipulation
    University of Massachusetts Amherst ScholarWorks@UMass Amherst Open Access Dissertations 5-2010 Whole-Body Strategies for Mobility and Manipulation Patrick Deegan University of Massachusetts Amherst Follow this and additional works at: https://scholarworks.umass.edu/open_access_dissertations Part of the Computer Sciences Commons Recommended Citation Deegan, Patrick, "Whole-Body Strategies for Mobility and Manipulation" (2010). Open Access Dissertations. 211. https://scholarworks.umass.edu/open_access_dissertations/211 This Open Access Dissertation is brought to you for free and open access by ScholarWorks@UMass Amherst. It has been accepted for inclusion in Open Access Dissertations by an authorized administrator of ScholarWorks@UMass Amherst. For more information, please contact [email protected]. WHOLE-BODY STRATEGIES FOR MOBILITY AND MANIPULATION A Dissertation Presented by PATRICK DEEGAN Submitted to the Graduate School of the University of Massachusetts Amherst in partial fulfillment of the requirements for the degree of DOCTOR OF PHILOSOPHY May 2010 Computer Science c Copyright by Patrick Deegan 2010 All Rights Reserved WHOLE-BODY STRATEGIES FOR MOBILITY AND MANIPULATION A Dissertation Presented by PATRICK DEEGAN Approved as to style and content by: Roderic Grupen, Chair Oliver Brock, Member Andrew Barto, Member Richard Van Emmerik, Member Andrew Barto, Department Chair Computer Science To my family. ACKNOWLEDGMENTS I would like to thank my thesis advisor, Rod Grupen, for all his help, leadership, and support throughout my graduate school career. Rod’s vast knowledge, genius, and insight into robotics has been a constant inspiration. I feel very fortunate to have been a part of the Laboratory for Perceptual Robotics. The environment Rod created not only allowed me to develop my passion for robotics, but his understanding and patience allowed me to grow personally, overcome many obstacles, and develop the confidence I needed to bring this work to fruition.
    [Show full text]
  • Mixed Reality Technologies for Novel Forms of Human-Robot Interaction
    Dissertation Mixed Reality Technologies for Novel Forms of Human-Robot Interaction Dissertation with the aim of achieving a doctoral degree at the Faculty of Mathematics, Informatics and Natural Sciences Dipl.-Inf. Dennis Krupke Human-Computer Interaction and Technical Aspects of Multimodal Systems Department of Informatics Universität Hamburg November 2019 Review Erstgutachter: Prof. Dr. Frank Steinicke Zweitgutachter: Prof. Dr. Jianwei Zhang Drittgutachter: Prof. Dr. Eva Bittner Vorsitzende der Prüfungskomission: Prof. Dr. Simone Frintrop Datum der Disputation: 17.08.2020 “ My dear Miss Glory, Robots are not people. They are mechanically more perfect than we are, they have an astounding intellectual capacity, but they have no soul.” Karel Capek Abstract Nowadays, robot technology surrounds us and future developments will further increase the frequency of our everyday contacts with robots in our daily life. To enable this, the current forms of human-robot interaction need to evolve. The concept of digital twins seems promising for establishing novel forms of cooperation and communication with robots and for modeling system states. Machine learning is now ready to be applied to a multitude of domains. It has the potential to enhance artificial systems with capabilities, which so far are found in natural intelligent creatures, only. Mixed reality experienced a substantial technological evolution in recent years and future developments of mixed reality devices seem to be promising, as well. Wireless networks will improve significantly in the next years and thus, latency and bandwidth limitations will be no crucial issue anymore. Based on the ongoing technological progress, novel interaction and communication forms with robots become available and their application to real-world scenarios becomes feasible.
    [Show full text]
  • Social Robotics Agenda.Pdf
    Thank you! The following agenda for social robotics was developed in a project led by KTH and funded by Vinnova. It is a result of cooperation between the following 35 partners: Industry: ABB, Artificial Solutions, Ericsson, Furhat robotics, Intelligent Machines, Liquid Media, TeliaSonera Academia: Göteborgs universitet, Högskolan i Skövde, Karolinska Institutet, KTH, Linköpings universitet, Lunds tekniska högskola, Lunds Universitet, Röda korsets högskola, Stockholms Universtitet, Uppsala Universitet, Örebro universitet Public sector: Institutet för Framtidsstudier, Myndigheten för Delaktighet, Myndigheten för Tillgängliga Medier, Statens medicinsk- etiska råd, Robotdalen, SLL Innovation, Språkrådet End-user organistions: Brostaden, Epicenter, EF Education First, Fryshuset Gymnasium, Hamnskolan, Investor, Kunskapsskolan, Silver Life, Svenskt demenscentrum, Tekniska Museet We would like to thank all partners for their great commitment at the workshops where they shared good ideas and insightful experiences, as well as valuable and important observations of what the future might hold. Agenda key persons: Joakim Gustafson (KTH), Peje Emilsson (Silver Life), Jan Gulliksen (KTH), Mikael Hedelind (ABB), Danica Kragic (KTH), Per Ljunggren (Intelligent Machines), Amy Loutfi (Örebro university), Erik Lundqvist (Robotdalen), Stefan Stern (Investor), Karl-Erik Westman (Myndigheten för Delaktighet), Britt Östlund (KTH) Writing group: editor Joakim Gustafson, co-editor Jens Edlund, Jonas Beskow, Mikael Hedelind, Danica Kragic, Per Ljunggren, Amy
    [Show full text]
  • Master Thesis Robot's Appearance
    VILNIUS ACADEMY OF ARTS FACULTY OF POSTGRADUATE STUDIES PRODUCT DESIGN DEPARTMENT II YEAR MASTER DEGREE Inna Popa MASTER THESIS ROBOT’S APPEARANCE Theoretical part of work supervisor: Mantas Lesauskas Practical part of work supervisor: Šarūnas Šlektavičius Vilnius, 2016 CONTENTS Preface .................................................................................................................................................... 3 Problematics and actuality ...................................................................................................................... 3 Motives of research and innovation of the work .................................................................................... 3 The hypothesis ........................................................................................................................................ 4 Goal of the research ................................................................................................................................ 4 Object of research ................................................................................................................................... 4 Aims of Research ..................................................................................................................................... 5 Sources of research (books, images, robots, companies) ....................................................................... 5 Robots design .........................................................................................................................................
    [Show full text]
  • Assistive Humanoid Robot MARKO: Development of the Neck Mechanism
    MATEC Web of Conferences 121, 08005 (2017) DOI: 10.1051/ matecconf/201712108005 MSE 2017 Assistive humanoid robot MARKO: development of the neck mechanism Marko Penčić1,*, Maja Čavić1, Srđan Savić1, Milan Rackov1, Branislav Borovac1, and Zhenli Lu2 1Faculty of Technical Sciences, University of Novi Sad, TrgDositejaObradovića 6, 21000 Novi Sad, Serbia 2School of Electrical Engineering and Automation, Changshu Institute of Technology, Hushan Road 99, 215500 Changshu, People's Republic of China Abstract.The paper presents the development of neck mechanism for humanoid robots. The research was conducted within the project which is developing a humanoid robot Marko that represents assistive apparatus in the physical therapy for children with cerebral palsy.There are two basic ways for the neck realization of the robots. The first is based on low backlash mechanisms that have high stiffness and the second one based on the viscoelastic elements having variable flexibility. We suggest low backlash differential gear mechanism that requires small actuators. Based on the kinematic-dynamic requirements a dynamic model of the robots upper body is formed. Dynamic simulation for several positions of the robot was performed and the driving torques of neck mechanism are determined.Realized neck has 2 DOFs and enables movements in the direction of flexion-extension 100°, rotation ±90° and the combination of these two movements. It consists of a differential mechanism with three spiral bevel gears of which the two are driving and are identical, and the third one which is driven gear to which the robot head is attached. Power transmission and motion from the actuators to the input links of the differential mechanism is realized with two parallel placed gear mechanisms that are identical.Neck mechanism has high carrying capacity and reliability, high efficiency, low backlash that provide high positioning accuracy and repeatability of movements, compact design and small mass and dimensions.
    [Show full text]