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System Architecture for Human-Robot Interaction HUMAN ROBOT Robot Agent Human Agent A A A A A A A A IMA Primitive Agent Software System Hardware System Hardware Interface Human Interaction

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slide1

System Architecture for Human-Robot Interaction

HUMAN

ROBOT

Robot

Agent

Human

Agent

A

A

A

A

A

A

A

A

IMA Primitive

Agent

Software System

Hardware System

Hardware

Interface

Human

Interaction

slide2

Welcome to the Center for Intelligent Systems at the Vanderbilt University School of Engineering. CIS conducts research on intelligent robotics and on intelligent manufacturing.

  • Research Activities and CIS Links:
    • Intelligent Robotics Lab
    • Intelligent Manufacturing
    • Recent Publications
    • CIS-Affiliated Faculty, Students, and Alumni
    • The CIS Newsletter
    • Employment Opportunities
  • Contact Information:
    • Center for Intelligent Systems, Vanderbilt University
    • Dr. Kazuhiko Kawamura, Director
    • Dr. Alan Peters, Assistant Director
    • Dr. Mitch Wilkes, Assistant Director
    • Florence (Flo) Fottrell, Administrator
    • Box 131 Station B
    • Nashville, TN 37235
    • Phone: (615) 322-7269 (Lab), (615) 343-0697 (Office)
    • Fax: (615) 322-7062
  • Other Links
  • U.S.-Japan Center Home Page
  • Vanderbilt University School of Engineering
  • IEEE RAS Service Robot Technical Committee
slide3

Site Contents

Research

Projects under IRL

Publications

Papers Online

People

Faculty, Students, and Alumni

Robot Links

Link to Interesting Robot Sites

slide4

Welcome

Welcome to the Intelligent Robotics Laboratory (IRL) at Vanderbilt University's School of Engineering! The IRL is a part of the Center for Intelligent Systemsand conducts research on service robots and human/robot symbiosis.

Site Contents

Research

Projects under IRL

Publications

Papers Online

People

Faculty, Students, and Alumni

Robot Links

Link to Interesting Robot Sites

Contact Information:

Director:Dr. Kazuhiko Kawamura Assistant Directors:Dr. M. WilkesDr. R.A. Peters IIResearch Faculty:Dr. G. BiswasDr. D. GainesDr. D. FisherDr. P.K. BasuAdministrator:Flo FottrellLab Manager:Mark CambronWeb Manager:Tamara Rogers

Intelligent Robotics LabVanderbilt UniversityBox 131 Station BNashville, TN 37235Phone: (615) 322-7269Fax: (615) 322-7062

slide5

Humanoids

    • ISAC
  • Mobile Robots
    • HelpMate
  • Bio-Mimetic Control Systems
    • Associative Memory
    • Attention System
    • Sensory Systems
    • Spreading Activation/Learning
    • High Level Agent Structure

Site Contents

  • McKibben Artificial Muscles
    • Basics
    • ISAC Arms
  • Rehabilitation Robotics
    • Rehab Robotics
  • Industrial Automation
    • Intelligent Planners
    • Industrial Pick and Place Robot
    • Remote Manufacturing Systems
  • Intelligent Machine Architecture (IMA)
    • IMA
    • IMA II

Anthropomorphic Manipulators

    • PneuHand
    • PneuHand II

Robots & the Arts

    • Theremin Playing

Climber Robot

    • Robin

Research

Projects under IRL

Publications

Papers Online

People

Faculty, Students, and Alumni

Robot Links

Link to Interesting Robot Sites

slide6

ISAC is a dual-arm humanoid robot that was designed and built in the IRL as a research platform for service robotics. The system contains

    • Two pneumatic 6DOF SoftArms actuated by McKibben artificial muscles.
    • An air compressor and compressed air delivery system.
    • A Greifer gripper.
    • A four fingered, anthropomorphic dexterous manipulator, that we call the PneuHand, designed and built by the IRL.
    • Two force-torque sensors connected at the arm's wrist joints.
    • A Directed Perception pan-tilt platform modified in house for independent verge control of two color cameras.
    • Two 200 MHz Dual processor Pentium Pros. One controls grayscale image processing and the other controls the two SoftArms with two arm controller boards (built in house), and a multi-channel audio signal processor.
    • One 266 MHz Pentium-2 with two Imagenation color frame grabbers.
    • One 200 MHz Pentium Pro.

The dual-arm system provides a test-bed to develop new technologies for user-to-robot and robot-to-user communications, including audio, visual, and gestural methods.

slide7

The Intelligent Robotics Lab is currently working to incorporate a mobile robot with the ISAC system. The Helpmate mobile robot was donated by Yaskawa Electric of Japan. Helpmate has been upgraded with the following new features:

    • A 400MHz Pentium II motherboard.
    • A 5DOF rubbertuator-actuated softarm.
    • A Lidar sensor for navigation.
    • A vision system, including CATCH and a PCI color frame grabber.
    • New control software, based on IMA.
    • Connection to the Internet via wireless Ethernet
  • Helpmate will soon become an integral part of the ISAC system. A new software architechture (see related pages for IMA) will allow a combination of local autonomy and user direction, enabling Helpmate to navigate hallways and rooms to accomplish tasks. We are also using HelpMate as a test bed for IMA2, a revised version of IMA.
slide10

This is a rear view, showing the DC-to-AC converter (the black box on the "tailgate"), the air compressor (that red pumpkin-looking thing), the servo valve tree (in the middle), and the manipulator.

slide12

ISAC, our dual-arm humanoid, in its original configuration (with the Greifer gripper, the FMA gripper, and the original CATCH pan/tilt/verge head)

slide14

Recent Publications

1999

  • D.M. Wilkes, W.A. Alford, R.T. Pack, T.E. Rogers, E.E. Brown, Jr., R.A. Peters II, and K. Kawamura, “Service Robots for Rehabilitation And Assistance", Chapter 2 in Teodorescu and Jain, “Intelligent Systems and Techniques in Rehabilitation”, CRC Press, 1999.
  • W. A. Alford, T. Rogers, D. M. Wilkes, and K. Kawamura, "Multi-Agent System for a Human-Friendly Robot", Proceedings of the 1999 IEEE International Conference on Systems, Man, and Cybernetics (SMC '99), pp. 1064-1069, October 12-15, 1999, Tokyo, Japan.
  • K. Kawamura, "Human-Robot Interaction for a Human-Friendly Robot: A Working Paper", Proceedings of the Second International Symposium on HUmanoid RObotics (HURO '99), pp. 77-85, October 8-9, 1999, Tokyo, Japan.
  • A. Alford, S. Northrup, K. Kawamura, K-W. Chan, "Music Playing Robot", Proceedings of the International Conference on Field and Service Robotics (FSR '99), pp. 174-178, August 29-31, 1999, Pittsburgh, PA.
slide15

Recent Publications

1998

  • S. Charoenseang, A. Srikaew, D.M. Wilkes, and K. Kawamura, "3-D Collision Avoidance for the Dual-Arm Humanoid Robot", IASTED International Conference on Robotics and Manufacturing, Banff, Canada, July, 1998
  • D.M. Wilkes, A. Alford, R.T. Pack, T. Rogers, R.A. Peters II, and K. Kawamura, "Toward Socially Intelligent Service Robots", Applied Artificial Intelligence, An International Journal, vol. 12, pp. 729-766, 1998.
  • A. Srikaew, M.E. Cambron, S. Northrup, R.A. Peters II, D.M. Wilkes, and K. Kawamura, "Humanoid Drawing Robot", IASTED International Conference on R obotics and Manufacturing, Banff, Canada, July, 1998.
  • S. Charoenseang, A. Srikaew, D.M. Wilkes, and K. Kawamura, "Integrating Visual Feedback and Force Feedback in 3-D Collision Avoidance for a Dual-Arm Humanoid Robot", Proceedings of 1998 International Conference on Systems, Man and Cybernetics, California, USA, October, 1998.
slide16

Recent Publications

1997

  • D.M. Wilkes, R.T. Pack, W.A. Alford, and K. Kawamura, "HuDL, A Design Philosophy for Socially Intelligent Service Robots", working notes of the AAAI Symposium on Socially Intelligent Agents, November, 1997
  • R.T. Pack, D.M. Wilkes, and K. Kawamura, "A Software Architecture for Integrated Service Robot Development", 1997 IEEE Conf. On Systems, Man, and Cybernetics, Orlando, pp. 3774-3779, September, 1997.
  • A. Alford, D. M. Wilkes, K. Kawamura, and R.T. Pack, "Flexible Human Integration for Holonic Manufacturing Systems", Proceedings of the World Manufacturing Congress, New Zealand, pp. 646-651, November, 1997.
  • R.T. Pack, D. M. Wilkes, G. Biswas, and K. Kawamura, "Intelligent Machine Architecture for Object-Based System Integration", Proceedings of the 1997 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Waseda University, Japan, June 1997.
slide17

Human Agent

  • Motivated by desire for natural human-robot interaction
  • Encapsulates what the robot knows about the human
    • Identity
    • Location
    • Intentions
slide18

Human Agent Internal Model

  • Model of the current human: description of the current human
  • Human activity: description of what the user is doing
  • User’s request: the nature of the interaction, the task the user request of the robot
slide19

Model of the Human

    • Name
        • Stan
    • Emotion
        • Happy
    • Command
        • Watch me
    • Face Location
        • (x,y,z) = (122, 34, 205)
    • Hand Locations

(x,y,z) = (85, -10, 175)

(x,y,z) = (175, 56, 186)

slide20

Model of the Human

    • Name
        • Stan
    • Emotion
        • Sad
    • Command
        • Watch me
    • Face Location
        • (x,y,z) = (122, 34, 205)
    • Hand Locations

(x,y,z) = (85, -10, 175)

(x,y,z) = (175, 56, 186)

(x, y,z)

Stan

(x, y,z)

(x, y,z)

slide21

Human Agent Modules

  • Detection module
  • Monitoring module
  • Identification module
slide22

Detection Module

  • Allows the robot to detect human presence
  • Uses multiple sensor modalities
    • IR motion sensor array
    • Speech recognition
    • Skin-color segmentation
    • Face detection
slide23

Monitoring Module

  • Keeps track of the detected human
    • Localization and tracking algorithms
    • Face tracking
    • Finger pointing gesture
    • Basic speech interface
slide24

Identification Module

  • Under development
    • Attempts to identify detected human based on stored model and current model
      • Voice pattern comparison
      • Name
      • Height
      • Clothing color
    • Detects changes in dynamic model
      • Clothing color
      • Height