A Steward Robot for Human-Friendly Human- Machine Interaction in a Smart House Environment

bouncerarcheryAI and Robotics

Nov 14, 2013 (3 years and 6 months ago)

44 views

A Steward Robot for Human
-
Friendly Human
-
Machine Interaction in a Smart House
Environment

Kwang
-
Hyun Park, Hyong
-
Euk Lee, Younmin Kim, and Z.
Zenn Bien

Troy Nunnally

Overview (Introduction)

Motivation


Lack of caregivers for the
disabled


Managing domestic concerns


Comfort and convenience in a
smart home in environment

HEAD (Thinking and Sensing)


2 CPU’s + one microprocessor


Two Degrees of Freedom


Cricket Board for localization


BASE (Acting and Sensing)


2 robotic arms with 6 DOFs each


2 grippers with 1 DOF each


2 Wheels
-
driven mobile


DC/DC converting Recharging System















Overview (System)

Overview (Systems)

Overview (System)

SENSING

THINKING

ACTING

c

Description of Methodology

(Sensing)

Sensors on platform


Ultrasonic sensor for online
obstacle detection


Three selected beacons to the
ceiling of the smart house for
global path generation


Voltage comparator (senses
low voltage)


Assumptions for example
Sensors


Electrical pulse electrodes for bio
-
signals


Mechanical deflection pressure sensor with
spring or fluids pressure


Voice recognition sensor


Camera with image mapping






Indirect sensors provided by
Smart House

Description of Methodology
(Thinking)

Iterative Fuzzy Clustering with Supervision

Description of Methodology


(Thinking: OCC Model)

HRI in a service environment

Description of Methodology (Thinking)

Heiders balance theory for emotional interaction

c

Sentiment Relation for like
and dislike (Triad relation)

(+) = like

(
-
) = dislike

c

Sentiment Relation for like
and dislike (n relation)


Too complicated to model
(disadvantage)

Description of Methodology

(Acting: Emotions and Base)


2 robotic arms with 6 DOFs
each


2 grippers with 1 DOF each


2 Wheels
-
driven mobile

Assuming: Small Servo motors

And manipulators and links

Base Acting

Results (Thinking)

11

Results (Acting)

12

Hope

Pride/Joy

Advantages

System


Managing domestic concerns


Comfort


Convenience in a smart home in
environment


Sensors


Great global path systems so that it
knows it position at a times


Thinking and acting


User friendly due to Human Robot
Interaction model


Minimum mistakes due to IFCS


Disadvantages


System


Added cost to an expensive
system


Sensors


Need more sensors


Arm pressure



Thinking and Acting


Installation, programming, and
compatibility


No variability within emotions


Sentiment relation of n objects


Class Discussion


What improvements can be made to the
sensing, acting, and thinking aspect this
robot?


When do you predict it will be ready?


If steward robot starts working, what will it
do economically in the care giving field?

Conclusion


The

concept

of

steward

robot

is

proposed

in

order

to

provide

primarily

disabled

and

elderly

people

with

services

provided

in

a

smart

home

in

order

to

making

living

more

comfortable
.

If

this

robot

gets

put

into

a

market

it

could

possibly

revolutionize

smart

homes

everywhere
.


Thanks!