Д. Тетерюков. skoltech 2014
DESCRIPTION
Презентация профессора Сколтех Д. Тетерюкова на дискуссионной панели "Мечтают ли предприниматели о роботах-андроидах"TRANSCRIPT
Dzmitry Tsetserukou Assistant Professor Space Robo*cs Lab Wearable Media Lab
Intelligent Robo,cs and Wearables
The best way to predict the future is to invent it.
Steve Jobs
Outline
1. Research Background
2. Teleoperation system TeleTA and robotic hand ExoPower
3. NaviGoid: Mobile Robot Navigation with Haptic Vision
4. LinkTouch: Wearable Fingertip Haptic Device
5. iFeel_IM! Communication system 2
Susumu Tachi (born January 1, 1946) is a professor of Graduate School of Media Design at Keio University and Professor Emeritus of the University of Tokyo. Prof. Tachi is also a Founding Director of the Robotics Society of Japan (RSJ), a Fellow of the Society of Instrument and Control Engineers (SICE) and is the Founding President of the Virtual Reality Society of Japan (VRSJ).
Invisible cloaking Twister
Telesar IV
Teleoperation system TeleTA
LinkTouch: true 2D display
NAVIgoid Robot Navigation with High Level of Immersion
Robot motion control by torso tilt
Tactile, visual and auditory
feedback
Mobile Robot User wearing a Belt Interface
LRF UHG-08LX by HOKUYO
Robot-side PC CPU: Intel Core i7 640M (2.8 GHz) Mem:8GB
Mobile Robot PeopleBot by MobileRobots
Belt Interface
NAVIgoid
(a) Human operator (b) Mobile robot PeopleBot
Single tactor
Vr
xo
yo
Vh
Human
Obstacle
Wall
ro
rh
rw
User bends forward
Belt Interface
yr
xr
xu
yu
0
Flex sensor
LRF
NOVELTY: • engaging the user into teleoperation • a h i g h l e v e l o f immersion through p r o p r i o c e p t i v e telepresence • tactile feedback
GOAL: development a new type of tactile interface a n d t e l e p r e s e n c e robotic system that can make operator of being “embodied”.
Elastic band
User’s waist
Flex sensor I
Flex sensor II Flex sensor III
Flex sensor IV
Accelerometer
Front
Back Right
Left
Geomagnetic sensor
Lug
Accelerometer
Vibration motor
Flex
sens
or
Contact slider
Hol
der
ProInterface
Stationary obstacle
distance direction shape
M o v i n g obstacle
distance location motion direction
The ProInterafce (Proprioception-controlled Interface) detects the trunk stance through the flex sensors. The tactors vibrate to produce the tactile stimuli indicating:
Tracking of Moving Obstacle
(a) 226th frame (b) 227th frame (c) 228th frame (d) 229th frame (e) 230th frame
(a) 231th frame (b) 232th frame (c) 233th frame (d) 234th frame (e) 235th frame
: robot, : new detected obstacle, : moving obstacle, : velocity of moving obstacle
• Object is tracked by using KF. ( ) ( )Tytxtytxt
TTot
Totot vvpp ,,,, == vpx
( )I0qq0
vvp
vp
x 2
1
11 )8(,, tN
tvt
vtot
otot
ot
otto Δ⎟⎟
⎠
⎞⎜⎜⎝
⎛+⎟⎟⎠
⎞⎜⎜⎝
⎛ Δ+=⎟⎟⎠
⎞⎜⎜⎝
⎛=
+
++ ~
State vector:
Object motion model (motion prediction):
position speed
process noise
Cloud swarm robotics
LinkTouch
Operation principle of PulseTouch
LinkTouch: true 2D display
Inverted five-bar linkage mechanism
Fn C Fn
Ft
F l1
l4 l3 l2
[█■𝐹↓𝑡 @𝐹↓𝑛 ]=[█■𝑆↓12 𝐶↓2 &− 𝑆↓43 𝐶↓3 @− 𝑆↓12 𝑆↓2 &𝑆↓43 𝑆↓3 ] [█■𝜏↓1 ∕𝑙↓2 @𝜏↓2 ∕𝑙↓5 ]
l5
Motor Faulhaber DC Motor 0615 4,5 S
Gear Ratio GH Series 06/1 64:1
Encoder HXM3-64
D i m e n s i o n s (W)×(H)×(D) [mm] 26.1×32×38.5
Link length l1, l2, l3, l4, l5 [mm] 18, 25, 10, 10,25
Weight [g] 13.5 Normal force [N] 0.58
iFeel_IM! Communication system with rich emotional and haptic channels
The philosophy behind iFeel_IM! (intelligent system for Feeling enhancement powered by affect sensitive Instant Messenger) is
iFeel_IM!: communication system with emotional and haptic channels
“I feel [therefore] I am!”
D. Tsetserukou, et al. Enhancing mediated interpersonal communication through affective haptics, INTETAIN 2009, pp. 246-251.
Architecture of iFeel_IM!
HaptiHeart HaptiHug HaptiTickler HaptiBatterfly
HaptiTemper and HaptiShiver
chat text
3D world Second Life
emotion: intensity
Web-based interface of Affect
Analysis Model
PC of each user
Chat log file
Haptic Devices Controller
D/A
Driver box
Affect Analysis Model: recognition of emotions from text
Test for emoticons, abbreviations, acronyms, interjections, “?” and “!” marks, repeated punctuation and capital letters
Sentence
Estimation of resulting emotion state
Sentence pre-processing for parser
Symbolic cue analysis module
Emoticon or em abbr. “yes” “no”
Sentence annotated by
emotion
emotion category: intensity emotion category: intensity
Syntactical structure analysis module
Stanford Parser
Parser output processing
output of the parser
Word-level analysis module
Phrase-level analysis module
Sentence-level analysis module
I stage
II stage
V stage
III stage
IV stage
Affect database
Emotions: Anger, Disgust, Fear, Guilt, Interest, Joy, Sadness, Shame, Surprise
Website: h:ps://sites.google.com/site/dzmitrytsetserukou/ Email: [email protected]
Спасибо за внимание! Thank you for your attention!