ROBOT BEHAVIOUR CONTROL

skoptsytruculentAI and Robotics

Nov 15, 2013 (3 years and 9 months ago)

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ROBOT BEHAVIOUR CONTROL

SUCCESSFUL TRIAL OF MARKERLESS MOTION CAPTURE TECHNOLOGY

Student

E
.
E
.

Shelomentsev


Group

8
Е
00

Scientific

supervisor

Т
.
V
.

Alexandrova

Language

supervisor

T
.
I
.
Butakova

Plan


Introduction


Methodology


Markerless

Motion Capture


HAMMER architecture


Results


Conclusion

Current State of Robotics

Industrial robotics

Social robotics

What will we do?

The main goals of our research:


-

to
develop and try a new method of
human motions recognizing


-

to
create software for the robot which will
build an appropriate model of the robot’s
behavior with using the new method of
human motions recognizing

Motion Capture

Marker Technology

Mechanical Technology

Markerless

Motion Capture

RGB
-
D Sensor

Human

Obtained Data

Hierarchical Attentive Multiple Models for Execution
and Recognition (HAMMER)

Purposes of use:


To determine the intentions of the
human


To form the robot reactions to various
actions

HAMMER

World State

Inverse
Models

Forward
Models

Action
Signals

Confidence
Evaluation
Function

HAMMER architecture

Results

Robot simulates the motions of the
operator

Robot teaches children to dance

Conclusion

What have we done?

Robot Reflex
System

Problem of motion
recognizing

Application of the
Markerless

Motion
Capture
technology

Problem of robot
reactions building

Implementation of
the HAMMER
algorithm

References

1.
S.
Schaal
,
The New Robotics
-
towards human
-
centered machines,
HFSP journal, vol. 1, no. 2, pp. 115

26, 2007.

2.
Y.
Demiris
,
Prediction of intent in robotics and multi
-
agent systems,
Cognitive processing, vol. 8, no. 3, pp. 151

158,
2007.

3.
http://en.wikipedia.org/wiki/Motion_captue

4.
Arnaud Ramey,
Víctor

González
-
Pacheco, Miguel A
Salichs
.
Integration of a Low
-
Cost RGB
-
D Sensor in a Social
Robot for Gesture Recognition
. 6th international conference on
Humanrobot

interaction HRI 11, 2011

5.
Miguel
Sarabia
, Raquel
Ros
,
Yiannis

Demiris
.
Towards an open
-
source social middleware for humanoid robots
, 11th
IEEE
-
RAS International Conference on Humanoid Robots, 2011

6.
Y.
Demiris

and B.
Khadhouri
,
Hierarchical Attentive Multiple Models for Execution and Recognition (HAMMER)
,
Robotics and Autonomous Systems, vol. 54, no. 5, pp. 361

369,2006

7.
Abstraction in Recognition to Solve the Correspondence Problem for Robot Imitation,

in Proc. of the Conf. Towards
Autonomous Robotics Systems, 2004, pp. 63

70.

8.
M. F. Martins and Y.
Demiris
,
Learning
multirobot

joint action plans from simultaneous task execution
demonstrations
, in Proc. of the Intl. Conf. on Autonomous Agents and
Multiagent

Systems, vol. 1, 2010, pp. 931

938.

9.
S. Butler and Y.
Demiris
,
Partial
Observability

During Predictions of the Opponent’s Movements in an RTS Game
, in
Proc. of the Conf. on Computational Intelligence and Games, 2010, pp. 46

53.

10.
A.
Karniel
,
Three creatures named ‘forward model’,
Neural Networks, vol. 15, no. 3, pp. 305

7, 2002.

11.
Y. Wu, Y.
Demiris
,
Learning Dynamical Representations of Tools for Tool
-
Use Recognition
, IEEE International
Conference on Robotics and
Biomimetics
,
2011

ROBOT BEHAVIOUR CONTROL

SUCCESSFUL TRIAL OF MARKERLESS MOTION CAPTURE TECHNOLOGY

Student

E
.
E
.

Shelomentsev


Group

8
Е
00

Scientific

supervisor

Т
.
V
.

Alexandrova

Language

supervisor

T
.
I
.
Butakova

Mission Completed!

Next research can be found here:

see4me@mail.ru