An robotic sculpture speaking to people

albanianboneyardAI and Robotics

Nov 2, 2013 (3 years and 8 months ago)

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An robotic sculpture speaking to people


“Would you like a drink?”

Fiberglass and robotics

Albano Guatti, 2005

University of Padova

Dept. of Information Engineering

IAS
-
Lab (Intelligent Autonomous System Lab)

Emanuele Menegatti, A. Pretto, S. Tonello, A. Lastra, A Guatti

IT+Robotics srl, Contrà Valmerlara, 21
-

36100 Vicenza (VI)

www.it
-
robotics.it

University of Padova


An interactive robotic sculpture


Goals
:

-
An interactive robotic sculpture conceived and realized by the artist Albano Guatti.

-
The robotic part was totally developed by the IAS
-
lab and IT+Robotics according
to Guatti’s concept

Introduction 1/1

Requirements
:


The robot should be autonomous and it should be able:

-
to move in a unknown and unstructured environment in a ‘natural’ way

-
to locate people in the environment,

-
to navigate toward a person avoiding the obstacles

-
to approach the person

-
to ask the person different pre
-
recorded questions.



The more likely is: ”
Would you like a drink?


Targets and Results

1

Metodology 1/2

The robotic sculpture overview

2

University of Padova


An interactive robotic sculpture

Metodology 1/2

The omnidirectional camera

2

University of Padova


An interactive robotic sculpture

The sensor


it constitutes the neck of the feminine statue


it is embedeed in the appearance of the statue


360
°

field of view enables to locate the person
without turning on the spot


Logitech USB webcam+custom made hyperbolic
mirror+perspex cylinder


Image processing:


Background subtraction


Skin detection


Robustness to light variations

Metodology 1/2

Skin detection

2

University of Padova


An interactive robotic sculpture

The skin detection


heuristic algorithm


robust to lighting


no need for calibration


based on the statistic of the moments of pixel distribution


bg nomalized color space


Metodology 1/2

The sonars

2

University of Padova


An interactive robotic sculpture

The sensor:


24 Polaroid 6500 series


A ring around the sculpture base at 30 cm from the floor


They can sense an obstacle of 3
-
4 cm diameter at 50 cm


Low reliability beyond 2 m


Software:


sonars data are processed using a modified VHF (Vector
Field Histogram)


All the readings of the sonars are organized inside a grid,
of dimensions 4
x
4 m


Metodology 1/2

The floor sensors

2

University of Padova


An interactive robotic sculpture

The sensor:


Four custom made floor sensor to detect floor
discontinuties in the front of the robot


Designed and realized at IAS
-
Lab


High brightness led + photoresistor + circuitry


Readout in Pioneer2 board analog input



Software:


Floor sensor reflectivity is measured at 4 Hz


Data are stored in a queue


When all data in the queue are over a threshold a floor
discontinuity is detected


Metodology 1/2

The driving system

2

University of Padova


An interactive robotic sculpture

The driving system:


2 independent driven wheels


2 custer wheel to balance


1 Pioneer2 motor control board




Pioneer2 control board:


P2OS (Pioneer2 Operating System)


several I/O ports:


Digital IN


Analog IN


Motor control port


Metodology 1/2

The laudspeakers

2

University of Padova


An interactive robotic sculpture

The audio system:


2 automotive loudspeakers


1 automotive audio
-
amplifier


Headphone audio output of a laptop



The computer:


Acer TravelMate 290 Centrino

1.6 GHz 512 MB RAM


provides computational power


Sends commands to Pioneer2 board

via USB/Serial port


Grab camera’s images via USB


Plays the voice files


The computer

Metodology 1/2

The behaviours

2

University of Padova


An interactive robotic sculpture


The robot is controlled by a finite state machine


The events detected in the envronment trigger
the change of state



The software is written in C++ running under
Linux


Multi
-
threding software which scheduling is
controlled by ADE (i.e. IAS
-
Lab scheduling
and networking system)


Graphical user interface for non
-
professional
users


LETMEGOTHROUGH

RANDOM

STEADY

GOTOPERSON

SAY



-
From experience of
Artisti
RoboCup team into a commercial product:

-
IAS
-
Lab of the University of Padua

-
IT+Robotics srl a spin
-
off of the University of Padua.


-
The robot performed at:

-
Palace Golinelli (Venice, Italy) 3 days 8h

-
SMAU 2005 (Milan, Italy) 5 days 10h

-
Discovery Film Festival 2006 (Rovereto, Italy) 3 days 8h

-
It has encountered hundreds of people and avoided them!


Conclusions 1/1

Conclusions

14

April, 12 2007

ICRA 2007

University of Padova


An interactive robotic sculpture

IAS
-
Lab

Prototypes 2/2

Video demos

16

University of Padova


An interactive robotic sculpture

June, 3 2006

Eurobot 2006

IT+Robotics srl, Contrà Valmerlara, 21
-

36100 Vicenza (VI)

www.it
-
robotics.it






Thanks for your attention


Any questions?

Fine

University of Padova


Advanced experimentations on Robotics for academical education

June, 3 2006

Eurobot 2006