an robotic sculpture speaking to people an robotic sculpture speaking to people “would you like a...
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An robotic sculpture speaking to peopleAn robotic sculpture speaking to people
“Would you like a drink?”Fiberglass and robotics
Albano Guatti, 2005
University of PadovaUniversity of PadovaDept. of Information EngineeringDept. of Information Engineering
IAS-Lab (Intelligent Autonomous System Lab)IAS-Lab (Intelligent Autonomous System Lab)
Emanuele Menegatti, A. Pretto, S. Tonello, A. Lastra, A GuattiEmanuele Menegatti, A. Pretto, S. Tonello, A. Lastra, A Guatti
IT+Robotics srl, Contrà Valmerlara, 21 - 36100 Vicenza (VI)www.it-robotics.it
University of PadovaUniversity of Padova
An interactive robotic sculptureAn interactive robotic sculpture
GoalsGoals::- 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 1/1Introduction 1/1
RequirementsRequirements::
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 ResultsTargets and Results
11
Metodology 1/2Metodology 1/2
The robotic sculpture overviewThe robotic sculpture overview
22
University of PadovaUniversity of Padova
An interactive robotic sculptureAn interactive robotic sculpture
Metodology 1/2Metodology 1/2
The omnidirectional cameraThe omnidirectional camera
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University of PadovaUniversity of Padova
An interactive robotic sculptureAn 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 1/2Metodology 1/2
Skin detectionSkin detection
22
University of PadovaUniversity of Padova
An interactive robotic sculptureAn 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 1/2Metodology 1/2
The sonarsThe sonars
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University of PadovaUniversity of Padova
An interactive robotic sculptureAn 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 4x4 m
Metodology 1/2Metodology 1/2
The floor sensorsThe floor sensors
22
University of PadovaUniversity of Padova
An interactive robotic sculptureAn 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 1/2Metodology 1/2
The driving systemThe driving system
22
University of PadovaUniversity of Padova
An interactive robotic sculptureAn 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 1/2Metodology 1/2
The laudspeakersThe laudspeakers
22
University of PadovaUniversity of Padova
An interactive robotic sculptureAn 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 computerThe computer
Metodology 1/2Metodology 1/2
The behavioursThe behaviours
22
University of PadovaUniversity of Padova
An interactive robotic sculptureAn 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
GOTOPERSONSAY
- From experience of Artisti 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 1/1Conclusions 1/1ConclusionsConclusions
1414April, 12 2007April, 12 2007 ICRA 2007ICRA 2007
University of PadovaUniversity of Padova
An interactive robotic sculptureAn interactive robotic sculpture
IASIAS-Lab-Lab
Prototypes 2/2Prototypes 2/2
Video demosVideo demos
1616
University of PadovaUniversity of Padova
An interactive robotic sculptureAn interactive robotic sculpture
June, 3 2006June, 3 2006 Eurobot 2006Eurobot 2006
IT+Robotics srl, Contrà Valmerlara, 21 - 36100 Vicenza (VI)
www.it-robotics.it
Thanks for your attentionThanks for your attention
Any questions?Any questions?
Fine
University of PadovaUniversity of Padova
Advanced experimentations on Robotics for academical educationAdvanced experimentations on Robotics for academical education
June, 3 2006June, 3 2006 Eurobot 2006Eurobot 2006