Intel & Carnegie Mellon University

Presented by Tim Haines

HERB 1.0 : Home Exploring Robotic Butler

Ideal Uses for Assistive Agent

Assist elderly or disabledDoing jobs currently done by service animals

Cleaning Washing Dishes Laundry Ironing Moving heavy objects

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

The First Solution!!!

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

Object recognition using sift

Flea- Locating objects

•Narrow View, Large depth of field

Dragonfly-Manipulate objects

•Wide View, small depth of field

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

Navigating using GATMO Generalized Approach to Tracking

Movable Objects Two part maps

StaticLists of objects

Classification

Vision

PlanningOpening doors Planning based

on Kinematics, no physics

Often Herbs fingers would jam into the door causing a stall

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