H man like Ser ice Robots Human-like Service ... - Phd.dees.unict.it

fencinghuddleΤεχνίτη Νοημοσύνη και Ρομποτική

14 Νοε 2013 (πριν από 3 χρόνια και 8 μήνες)

55 εμφανίσεις

INTERNATIONAL PhDXXIV CYCLE
Hman
likeSericeRobots
H
u
man

like
?
Ser
v
ice
 
Robots
PhD Student: Carlo Bruno
Tutor: Prof. G. Muscato
Coordinator: Prof. L. Fortuna
Catania ‐2009, 5 JuneXVIII Brainstorming Day
Outline
Introduction
Model
Simulation
Next Steps
Introduction
HumanRobot Interaction
H
Lik
Rbt
H
Eit
H
uman
Lik
e
R
o
b
o
t
H
uman
E
nv
i
ronmen
t
OwnGoal forService Robotics
•Modularity

Human/RobotInteraction

Human/Robot
 
Interaction
•Cooperation
•Flexibility
SNtki

S
ensor 
N
e
t
wor
ki
ng 

SensorFusion
Sensor
 
Fusion
•Error Minimization
HumanLikeExamples
HumanEnvironmentExamples
System Modelization
Niti
Localization
N
av
i
ga
ti
on
Actuator
System
Sensor
Control
HumanLike: MovementReconstruction
Mathematical
Model
System
Test
HumanMovement: MathematicalModel
Unknown Sensor 
position
position
Evaluation of Link 
characteristic
Cooperation
Flexibility

SensorNetworking
Sensor
 
Networking
Sensor Fusion
NextStep: HumanMovementReconstruction
Silti
Si
mu
l
a
ti
on
Mathematical Model
Sensor system
TEST
HdPltf
TEST
H
ar
d
ware 
Pl
a
tf
orm
d
l
HumanEnvironment: Navigationan
d
 Loca
l
ization
Environment
obstacle
Robot
d
l
HumanEnvironment: Navigationan
d
 Loca
l
ization


ﭮキ Robot
position

ﭮキ﹭

ﭮキ
 
environment
Robot Cooperation 
Human Cooperation

異塞若



異塞若

NextStep: HumanEnvironment
Localization/Navigation in human environment
M
Bildidthttilith
M
ap‐
B
u
ildi
ng an
d
 pa
th
 recons
t
ruc
ti
on a
l
gor
ith
ms
Testwitharoverandaclimbing
Test
 
with
?
a
?
rover
?
and
?
a
?
climbing
HumanRobot Interaction
HumanLikeRobot
HumanEnvironment
Papers
Proceedings
:
Proceedings
:
C.Bruno,D.Longo,D.Melita,G.Muscato,S.Sessa,G.Spampinato-“Heterogeneousrobot
coo
p
erationfo
r
interventionsinrisk
y
environments”

IARPInternationalWorksho
p,
Roboticsand
p
y
p,
MechanicalassistanceinHumanitarianDe-minin
g
andSimilarrisk
y
interventions

HUDEM2008
–TheAmericanUniversityinCairo(AUC),March28-302008-Cairo-EGYPT


﹡イ

Bruno
D
Longo
G
Muscato

Structure
and
model
identification
of
a



﹡イ



Bruno
,
D
.
Longo
,
G
.
Muscato


Structure
and
model
identification
of
a
vortex-basedsuctioncup”–CLAWAR200811thInternationalConferenceonClimbingand
WalkingRobotsandtheSupportTechnologiesforMobileMachines,September08-102008,
Coimbra-PORTUGAL
F.Bonaccorso,C.Bruno,L.Cantelli,D.Longo,G.Muscato–“AModularSoftwareInterfacefor
theControlSystemofanArcWeldingRobot”–HSI09HumanMachineInteractioninIndustry
Automation
and
Home
Automation

May
2009
Catania

Italy
Automation
and
Home
Automation
May
2009
Catania
Italy
Others
SummerSchool
:
Accepted
students
International
School
in
Robotics
and
Intelligent
Systems
(ISRIS
2009
)
.
Focus
Accepted
students
International
School
in
Robotics
and
Intelligent
Systems
(ISRIS
2009
)
.
Focus
theme:Assistiverobotsandsystemsforhealthcareandrehabilitation.IASI,Romania2009,22‐
26July
Conference:
AcceptedAT‐EQUAL2009–AdvancedTecnologiesforEnhancedQualityofLife
IASI
Romania
2009
22

26
July
IASI
,
Romania
2009
,
22
26
July
Thank you
Thank you
f
f
or

y
our attentio
n
y
INTERNATIONAL PhDXXIV CYCLE
Hman
likeSericeRobot
H
u
man

like
?
Ser
v
ice
 
Robot
PhD Student: Carlo Bruno
Tutor: Prof. G. Muscato
Cdit
PfLFt
C
oor
di
na
t
or: 
P
ro
f

L

F
or
t
una
Catania ‐2009, 5 JuneXVIII Brainstorming Day