Post on 14-Dec-2015
transcript
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