intel & carnegie mellon university presented by tim haines herb 1.0 : home exploring robotic...
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Intel & Carnegie Mellon University
Presented by Tim Haines
HERB 1.0 : Home Exploring Robotic Butler
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Ideal Uses for Assistive Agent
Assist elderly or disabledDoing jobs currently done by service animals
Cleaning Washing Dishes Laundry Ironing Moving heavy objects
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Challenges to Operate in a Human Environment Efficient navigation and mapping Robust object recognition and pose
estimating Sophisticated trajectory planning
All done in unstructured constantly changing environment
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The First Solution!!!
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Principles of System Architecture
Unlimited computational power is availableThis is achieve by using on board and off
board computing Sensing and planning algorithms should
require minimal human inputAllows for the robot to adapt to new
environments
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Object recognition using sift
Flea- Locating objects
•Narrow View, Large depth of field
Dragonfly-Manipulate objects
•Wide View, small depth of field
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Checkerboard Localization
Found to be better than using the laser Down side
Slow, taking 10 to 30 secNeeds at least 3 checkerboards in 1 imageTried children's drawings, Failed
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Navigating using GATMO Generalized Approach to Tracking
Movable Objects Two part maps
StaticLists of objects
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Classification
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Vision
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PlanningOpening doors Planning based
on Kinematics, no physics
Often Herbs fingers would jam into the door causing a stall
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PlanningManipulating objects WGR-Workspace Goal Regions Videos:
http://www.youtube.com/watch?v=NsTdFF19fQQ
http://www.youtube.com/watch?v=PEg9ay-Wy-M&feature=related