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Creation of Behaviors using URBI

Creation of Behaviors using URBI. Diego Pardo. GREC – Grup de Recerca Enginyeria Coneixement. Technical University of Catalonia. Aibo Simple Reactive Behaviors. Obstacle Detection. Walk. Posture. Voice Recognition. Face Recognition. The Basic Behaviors. Walk.

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Creation of Behaviors using URBI

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  1. Creation of Behaviors using URBI Diego Pardo GREC – Grup de Recerca Enginyeria Coneixement Technical University of Catalonia

  2. Aibo Simple Reactive Behaviors Obstacle Detection Walk Posture Voice Recognition Face Recognition

  3. The Basic Behaviors Walk Up Right 12DOF GaitParameterForward / Backwards / TurnInitialization ProcessCompatible with Others Behaviors

  4. The Basic Behaviors Postures Sit / Stand / LieTransitionsPosture Detector

  5. The Basic Behaviors Obstacle Detection Cliff DetectionObjects DetectionSensor CharacterizationReaction Routine

  6. Programming Tools Open-R Remote Framework R-Code Tekkotsu URBI

  7. Urbi-Mind Scenario Remote FrameWork Read LowLevel Data Basic behaviors building blocks Low level access (Read/Write) URBI Math functions, float point, etc AiboMind Functions Behaviors

  8. Walk RMF Walk J1 – Front Left and Right

  9. Walk URBI J1 – Front Left and Right

  10. Walk URBI J1 – Front Left and Right / Surface Change

  11. def NormalWalk(Wsteps) { neck=-20 smooth :1s, headPan = 0 smooth :1s, headTilt = 0 smooth :1s, if (Wsteps < 0) direction = 0 else direction = 1; Wsteps=abs(Wsteps); for | (j=0;j<Wsteps;j++) for & (m=0;m<6;m++) JF(m,direction) };

  12. Postures Unknown Lie Stand Sit State Model for Postures Transition

  13. Postures Joint – Transition Points

  14. Postures def robot.StandUp(){ wait(300); a=robot.myguessPosition(); if(a=="stand") {return 0;ledF=1|wait(500)|ledF=0}; if(a=="unknown") {robot.initial() | robot.lie2stand()} else { if(a=="sit") robot.sit2stand() else {if(a=="lie") robot.lie2stand()}};}; Joint – Transition Points

  15. Obstacle Detection Chest Sensor Output- UrbiMatlab Lib

  16. Obstacle Detection cdetect : every(200ms) cliffalert(),

  17. Obstacle Detection cdetect : every(200ms) obstalert(),

  18. Emerged Behavior LetsFindToy(); Goal : Search of the pink ballRandom Search Behavior: Walk, Turn, Sit, Lie Tail, Ear MovementsFinal Sequence

  19. Interface It simpledemo1: at(headSensor) global.hcounter++; simpledemo2: at(global.hcounter){wait(1000); global.hcounter=0;}, simpledemo3: at(global.hcounter==3){ global.hcounter=0;cleanall(); speaker.play("bark.wav"); motor on; wait(1s);load("foundtoy.u");}, simpledemo4: at(backSensorR){global.bk++;}, simpledemo5: at(global.bk) {wait(1000);global.bk=0;}, simpledemo6: at(global.bk==3) {cleanall();global.bk=0}, Start Stop

  20. Emerged Behavior LetsFindToy();

  21. How Complex? CPU-load level through the Behavior

  22. Conclusions and Future Work • An Urbi-Mind has been created. • Routines could be used in simple ‘end user’ applications. • Routines could be integrated in higher level algorithms. • Paralleling processing features are crucial in behavior based robot control. • Voice and Face Recognition are under construction using Open Source Lib

  23. Have Fun at &(speaker.remain=~=29025 || speaker.remain=~=28775 || speaker.remain=~=28525 ) { boca(), },

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