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Advanced Robotics
Markus Vincze
Automation and Control Institute
Technische Universität Wien
Linz, 9. Okt. 2014, IKT-Forum, Wirtschaftskammer Oberösterreich
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Overview
• Vision for Robotics
• Robot success Stories
• Trends?
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A Robot in Every Home
• Take robot out of the box and show your favorite
objects & places
• Easy-to-use interface
• Humans link places to
objects, e.g., furniture
• Learn objects & places
• Sensors: Odometry,
Stereo, now: + Kinect
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Situated Object Detection
• Interaction of robot structures perception – Driving – floor; orientation – walls; objects – on tables and shelves
• Collects scene and object knowledge during task
execution
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Table Plane Pop-out
EU Projekt CogX 2008-2012
Actual scene Stereo
Affordance: plane pop-out
Basic shapes
Model tracking
Object detection in attended
region
Affordance grasp
Learn naïve
physics
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IKN saliency map [submitted ICVS 2011]
Basket: Example of Attention Points
2D + 3D saliency map
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Pick-up Everything
[Fischinger, ICRA 2013]
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Learning Complete Object Models
Detect cubes 3D model model based tracker
[BLORT –
v4r.acin.
tuwien.ac.at]
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More Efficient: Learn from the Web
[Wohlkinger, IROS 2012]
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Object Class Detection
200 object classes: http://www.3d-net.org
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Results Categorization
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In Clutter: Hypothesis Verification
Run classifiers object and pose hypotheses
Set of hypotheses = global scene model
Maximise: explained points
Minimise: outliers, double assignments, unexplained
[Aldoma, ECCV 2012, ICRA 2014]
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Overview
• Vision for Robotics
• Robot success Stories
• Trends?
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Robot Success Stories
Google Self-driving car project
● DARPA grand challenges starting 2004
● Sebastian Thrun (Stanford), Chris Urmson (CMU, Google)
● Fleet of self-driving cars, >160000 miles on public roads
in California & Nevada, San Francisco & Los Angeles
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Google Driverless Car
• Based on accurate maps, GPS, odometry,
laser and radar (no cameras)
[E. Guizzo: How Google's Self-Driving Car Works, 2011]
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Assisted Driving
[Dariu M. Gavrila, Mercedes E- und S-Class; ICVS 2013]
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Assisted Driving
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Machine Vision in Robot Inspection
Part position
Print quality
Part measuring
Pose estimation
Plan generation
Pick from box
(simple parts)
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Novel Robot Application
Veebot, Mountain View, USA
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Robotic Success Stories
Roomba and colleagues
● Braitenberg vehicles with a purpose
● Cheap and very simple
Robot toys, e.g. AIBO, Pleo, & therapy Paro
● More complex, programmable
● Interesting for early adopters and technophiles
irobot
Samsung
Paro
Pleo
Aibo
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Romo – Toy Robot
14x11cm, 2 track motion
Face detection
Remote control
Curiosity – look for faces
Care or get bored
Tele-operate motion
Simple SDK: program robot HW
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Robot Success Stories
Big Dog
● Marc Raibert (MIT, Boston Dynamics)
● Work starting mid eighties: behaviour-based
adaptation
Big Dog 2010 Quadruped 1987
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DARPA Robotics Challenge
● “Help emergency personnel respond to
natural and man-made disasters”
Atlas (Boston Dynamics)
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DRC - Winner
• Power of actuators: liquid-cooled motor and
driver module (Schaft, J)
• Google purchased Schaft (and many more)
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Developmental Robotics - iCub
3.5 years old, 53 DOF
Platform to develop functions
more and more complex as
in children, e.g.,
Grasping/placing object
Stack objects
Motion of objects
Physical simulation of world
Learning relation to actions
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Soft Robotics Inspired by human
compliance
Two „muscle“
concept
Yet difficult to control because of
compliance and flexibility
Passive dynamic walker: uses
potential energy to walk
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Community and Cloud
● Willow Garage's PR2 robot and ROS
● Large repertoire of specific purpose components
● Allows rapid prototyping to plug together
application
scenarios
● Cognitive or
good
engineering?
Fetching beer video (1 week
hackathon) [Willow Garage]
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Baxter – Two Arm Assembly
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HOBBIT – The Mutual Care Robot
Fall Prevention and Acceptance Demographic challenge
Increasing age, highest risk: fall
50% hospital visit persons over 65
175M€ operations; 6% health costs
Robot for fall prevention/detection
Clean up floor, free paths at home
Socially connected, activity, entertainment
49 test persons in A, S, GR
70-88 Jahre, living alone, moderate impairments
Very high acceptance 87%
Rent for their home 77%
3-weeks Study in flats of older persons Haus der Barmherzigkeit
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Trends?
• Rescue, hazarduous environments
Where humans cannot go, e.g., taurob
• Service robots: slow steady grow
• Soft robotics
Safe next to humans, e.g., FerRobotics
• Home robots
Google? Cloud robotics: Privacy?
Demographic challenge: Korea!
Community driven: open skill platform
• Industry: human robot collaboration
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