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HERB 1.0 : Home Exploring Robotic Butler

HERB 1.0 : Home Exploring Robotic Butler. Intel & Carnegie Mellon University Presented by Tim Haines. Ideal Uses for Assistive Agent. Assist elderly or disabled Doing jobs currently done by service animals Cleaning Washing Dishes Laundry Ironing Moving heavy objects.

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HERB 1.0 : Home Exploring Robotic Butler

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  1. HERB 1.0 : Home Exploring Robotic Butler Intel & Carnegie Mellon University Presented by Tim Haines

  2. Ideal Uses for Assistive Agent • Assist elderly or disabled • Doing jobs currently done by service animals • Cleaning • Washing Dishes • Laundry • Ironing • Moving heavy objects

  3. 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

  4. The First Solution!!!

  5. Principles of System Architecture • Unlimited computational power is available • This is achieve by using on board and off board computing • Sensing and planning algorithms should require minimal human input • Allows for the robot to adapt to new environments

  6. Object recognition using sift • Flea- Locating objects • Narrow View, Large depth of field • Dragonfly-Manipulate objects • Wide View, small depth of field

  7. Checkerboard Localization • Found to be better than using the laser • Down side • Slow, taking 10 to 30 sec • Needs at least 3 checkerboards in 1 image • Tried children's drawings, Failed

  8. Navigating using GATMO • Generalized Approach to Tracking Movable Objects • Two part maps • Static • Lists of objects

  9. Classification

  10. Vision

  11. PlanningOpening doors • Planning based on Kinematics, no physics • Often Herbs fingers would jam into the door causing a stall

  12. 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

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