Tamara - Vanderbilt University

geographertonguesΤεχνίτη Νοημοσύνη και Ρομποτική

30 Νοε 2013 (πριν από 3 χρόνια και 11 μήνες)

96 εμφανίσεις

A

A

A

A

A

A

A

A

Human

Agent

Robot

Human

Robot

Agent

Software System

IMA Primitive

Agent

Hardware

Interface

System Architecture

Human

Interaction

ROBOT

A

ROBOT

HUMAN

Software System

IMA Primitive

Agent

Hardware

Interface

A

A

A

A

A

A

A

Human

Agent

Robot

Agent

System Architecture

Human

Interaction

Hardware System

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


Research

Projects under IRL

Publications

Papers Online

People

Faculty, Students, and
Alumni

Robot Links

Link to Interesting Robot
Sites

Site Contents

Research

Projects under IRL

Publications

Papers Online

People

Faculty, Students, and
Alumni

Robot Links

Link to Interesting Robot
Sites

Site Contents

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 Systems

and conducts research on service
robots and human/robot symbiosis.

Contact Information:

Director:

Dr. Kazuhiko Kawamura

Assistant Directors:

Dr. M. Wilkes


Dr. R.A. Peters II


Research Faculty:

Dr. G. Biswas


Dr. D. Gaines


Dr. D. Fisher


Dr. P.K. Basu


Administrator:

Flo Fottrell


Lab Manager:

Mark Cambron


Web Manager:

Tamara Rogers



Intelligent Robotics Lab

Vanderbilt University

Box 131 Station B

Nashville, TN 37235

Phone: (615) 322
-
7269

Fax: (615) 322
-
7062

Research

Projects under IRL

Publications

Papers Online

People

Faculty, Students, and
Alumni

Robot Links

Link to Interesting Robot
Sites

Site Contents

Humanoids


ISAC

Mobile Robots



HelpMate

Bio
-
Mimetic Control Systems


Associative Memory



Attention System


Sensory Systems



Spreading
Activation/Learning


High Level Agent
Structure




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


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.




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.

What Helpmate
looked like before we
got a hold of it.

A side/front view, showing the sonar
arrays, and the arm just hanging there.

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.

Previous
SoftArm in a
feeding task

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

A previous
version of ISAC,
with some of his
tools.


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.


Recent Publications

1999


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.

Recent Publications

1998

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.