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

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Presentation on theme: "Intel & Carnegie Mellon University Presented by Tim Haines HERB 1.0 : Home Exploring Robotic Butler."— Presentation transcript:

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

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

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

9 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

10 Navigating using GATMO Generalized Approach to Tracking Movable Objects Two part maps  Static  Lists of objects

11 Classification

12 Vision

13 Planning Opening doors Planning based on Kinematics, no physics Often Herbs fingers would jam into the door causing a stall

14 Planning Manipulating objects WGR-Workspace Goal Regions Videos:  QQ QQ  Wy-M&feature=related


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