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Mike Brady Research Symposium From Oxford AGVs to Human-Centred Robotics. Huosheng Hu School of Computer Science & Electronic Engineering University of Essex, Colchester CO4 3SQ, U.K. Email: hhu@essex.ac.uk. Introduction. 2 nd stage Structured environments. 3 rd stage Unstructured

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mike brady research symposium from oxford agvs to human centred robotics

Mike Brady Research SymposiumFrom Oxford AGVs to Human-Centred Robotics

Huosheng Hu

School of Computer Science & Electronic Engineering

University of Essex, Colchester CO4 3SQ, U.K.

Email: hhu@essex.ac.uk

introduction
Introduction

2nd stage

Structured

environments

3rd stage

Unstructured

environments

4th stage

Human-centred

environments

1st stage

Imaginary world

1920s

Human’s dream of replicating themselves

1950s

Industrial

Robots

1980s

2000s

Field Robots

Service Robots

Oxford AGV Project

Prof. H. Hu, School of CSEE, University of Essex, U.K.

slide3

Oxford AGV Project (1988-1997)

Tracked vehicle

Robuter

Turtle

OxNav

LICAR1

  • Key issues:
  • Multi-sensor integration
  • Sensor-based control
  • Autonomous navigation & mapping
  • Toward unstructured environments
  • Funded by EPSRC
  • GR/E42416 - £230K (1988-91)
  • GR/G37361- £270K (1991-94)
  • GR/K39844 - £350K (1994-97)
  • plus other grants (Hugh & Penny)

Video

Prof. H. Hu, School of CSEE, University of Essex, U.K.

slide4

Human-Centred Robotics

  • To operate in human-centred environments that are not structured in any way for robots.
  • To communicate intelligently with human users to know their needs.
  • To be adaptive, compliant, fail safe.
  • To be easily used by general public who have no knowledge on robots & programming (elderly & disabled).

Honda Asimo, 2001

Robotics is the intelligent connection of perception to action (M. Brady)

Prof. H. Hu, School of CSEE, University of Essex, U.K.

slide5

Typical Applications

Security Robots

Service Robots

Intelligent Appliance

Intelligent Home/

Office/Building

Internet & Wireless

Intelligent

Transportation

System

Intelligent Health

Care System

Intelligent Personal

Assistant

Prof. H. Hu, School of CSEE, University of Essex, U.K.

industrial robots in medical
Industrial Robots in Medical
  • ROBODOC (1992, IBM), based on an IBM scara robot for hip and knee surgeries.
  • Rehabilitation Robot

Da Vinci Surgical Robot video

Encoders & Force sensors

Prof. H. Hu, School of CSEE, University of Essex, U.K.

dextrous hand for service robots
Dextrous Hand for Service Robots

A high-speed robot hand (Komuro’s Lab at Univ. of Tokyo) performs impressive acts of dexterity & skillful manipulation (2009).

Shadow C6M Dextrous Hand

(20 motors)

IIT Dextrous Hand for the iCub robot

(22 DOFs, extremely compact, & light 0.5Kg)

EU-FP7-DEXMART-2009

Prof. H. Hu, School of CSEE, University of Essex, U.K.

field robots for military
Field Robots for Military

RHex robot

Two robots made by Boston Dynamics

BigDog robot

Prof. H. Hu, School of CSEE, University of Essex, U.K.

robotic fish built at essex
Robotic Fish built at Essex

G6 – Robotic fish

G4 – Robotic fish

G5 – Robotic fish

G8 – Robotic Fish

G9 – Robotic fish

G14 – Robotic fish

Funded by London Aquarium

Prof. H. Hu, School of CSEE, University of Essex, U.K.

eu fp7 ict project shoal
EU FP7 ICT Project – SHOAL
  • A shoal of robotic fish will
  • function in collaboration,
  • monitor pollution in a port, and
  • map pollution levels & its position.

Testing at De Gijon Port, Spain

Sensor networks

Referred from NMRI, Japan

Prof. H. Hu, School of CSEE, University of Essex, U.K.

robotic swarm for environmental monitoring
Robotic Swarm for Environmental Monitoring
  • For optimal coverage of an environmental variable for pollution monitoring.
  • Control of real and simulated agents using a combination of bacteria controller and flocking controller.
  • Architecture and system design for the System.

Video

11

Prof. H. Hu, School of CSEE, University of Essex, U.K.

09 June 2014

slide12

Hands-free Control of Wheelchair

Voice based control

Head gesture based control

Prof. H. Hu, School of CSEE, University of Essex, U.K.

emg based control of a wheelchair at essex
EMG based control of a wheelchair at Essex
  • CyberLink - small wearable headband with 3 bio-sensors.

Video 1

Video 2

EMG – band pass 70- 1000Hz. eyebrow tension

EOG – band pass 0.2-3Hz.

Funded by The Royal Society & Royal Academy of Engineering

Prof. H. Hu, School of CSEE, University of Essex, U.K.

brain actuated control
Brain Actuated Control

Feature

Selection

Algorithm

Selection

Translation

Algorithm

A/D Conversion

& amplifier

Feature

Extraction

Device

Commands

CommunicationControl

Biosemi,

Netherlands

www.biosemi.com

Video

  • 16-CH A/D
  • Amplifiers
  • Headcap-64
  • Electrodes

Funded by EPSRC;

Partner: Oxford University (Steve Roberts)

Prof. H. Hu, School of CSEE, University of Essex, U.K.

multi sensor perception
Multi-sensor Perception

People tracking with service robots

  • People are tracked using a multi-sensor solution, i.e.
    • the camera for face detection
    • The SICK laser scanner for legs detection
  • Three recognition modalities are integrated
    • height
    • clothes
    • face recognition

Prof. H. Hu, School of CSEE, University of Essex, U.K.

bank of filters for joint people tracking identification
Bank of Filters for Joint People Tracking & Identification

Prof. H. Hu, School of CSEE, University of Essex, U.K.

experiment 1 tracking 1 person
Experiment 1- Tracking 1 Person

Prof. H. Hu, School of CSEE, University of Essex, U.K.

multiple targets
Multiple Targets

Data association problem

data association

A

B

Different

readings

face / legs

of A

State

estimation

person A

State

estimation

person B

face / legs

of B

Different

persons

Prof. H. Hu, School of CSEE, University of Essex, U.K.

experiment 2 tracking 3 people
Experiment 2 – Tracking 3 people

Lux for University Open Day

Prof. H. Hu, School of CSEE, University of Essex, U.K.

conclusion
Conclusion
  • Opportunity:Robot in every home - a personal robot era is coming. Like PC & Mobile phone, we will enjoy these new robots (wearable, portable, implantable, pervasive).

Prof. H. Hu, School of CSEE, University of Essex, U.K.

future challenges
Future Challenges
  • How to effectively conquer home environments.
  • Incremental Learning for life-long adaptation
  • Memory & Machine Consciousness
  • Multi-modality human-machine
  • interaction
  • Interdisciplinary: psychology, medical,
  • neuroscience, sociology, ethics, etc.

Prof. H. Hu, School of CSEE, University of Essex, U.K.

thanks to mike who led me into the robotics research at oxford which was exciting enjoyable
Thanks to Mike who led me into the robotics research at Oxford, which was exciting & enjoyable.
  • Thanks to my colleagues and students at Essex who made contributions to this talk.

Please see my homepage for more information

http://csee.essex.ac.uk/staff/hhu

Q & A

Prof. H. Hu, School of CSEE, University of Essex, U.K.