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An Interactive Tool for Designing Complex Robot Motion Patterns An Interactive Tool for Designing Complex Robot Motion Patterns Georgios F. Pierris and Michail G. Lagoudakis Intelligent Systems Laboratory Department of Electronic and Computer
An Interactive Tool for Designing Complex Robot Motion Patterns
Georgios F. Pierris and Michail G. Lagoudakis
Intelligent Systems Laboratory Department of Electronic and Computer Engineering Technical University of Crete Chania, 73100, Greece IEEE International Conference on Robotics and Automation Kobe, Japan 16 May 2009
An Interactive Tool for Designing Complex Robot Motion Patterns
An Interactive Tool for Designing Complex Robot Motion Patterns
low-cost (humanoid) robots are now widely available humanoid robots feature many degrees of freedom complex motions require simultaneous move of many joints programming such robots is still a domain for experts new intuitive tools for motion design are needed
An Interactive Tool for Designing Complex Robot Motion Patterns
1
Aldebaran Nao Humanoid Robot
2
Robot Motion Patterns
3
Kouretes Motion Editor
4
Empirical Evaluation
5
Conclusion
An Interactive Tool for Designing Complex Robot Motion Patterns Aldebaran Nao Humanoid Robot
1
Aldebaran Nao Humanoid Robot
2
Robot Motion Patterns
3
Kouretes Motion Editor
4
Empirical Evaluation
5
Conclusion
An Interactive Tool for Designing Complex Robot Motion Patterns Aldebaran Nao Humanoid Robot
developed by Aldebaran Robotics, France made its debut at Robocup 2008, Suzhou, China humanoid robot with 21 Degrees Of Freedom (DOF) editions: RoboCup, Academic
An Interactive Tool for Designing Complex Robot Motion Patterns Aldebaran Nao Humanoid Robot
Actuators 21 independently moving rotational joints 5 joint chains : Head, Left/Right Arm, Left/Right Leg Sensors 21 encoders (1 on each joint) 2 color cameras (30fps, 640 × 480) vertically aligned 2 microphones for stereo audio perception 2 ultrasound sensors on the chest inertial unit : 2-axis gyroscope and 3-axis accelerometer 4 force sensitive resistors on each foot 2 bumpers switches on each foot
An Interactive Tool for Designing Complex Robot Motion Patterns Aldebaran Nao Humanoid Robot
Computer x86 AMD Geode @ 500MHz, 256 MB SDRAM, 1GB flash connectivity : ethernet, IEEE 802.11g wifi, serial cable
Programming NaoQi : proprietary middleware architecture event-based, parallel, and sequential execution multi-platform distributed architecture API : access to sensors and actuators languages : C++, Python collection of proprietary tools and routines
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
1
Aldebaran Nao Humanoid Robot
2
Robot Motion Patterns
3
Kouretes Motion Editor
4
Empirical Evaluation
5
Conclusion
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
Robot Motion Pattern Motion or behavior executed by the robot to complete a meaningful, demanding, and non-trivial task. Robots are meant to complete tasks, thus we need : quick and intuitive means for designing robot motions tools for easy testing, debugging, and editing of motions tools for fine tuning existing motion patterns
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
Robot Motion Pattern Motion or behavior executed by the robot to complete a meaningful, demanding, and non-trivial task. Robots are meant to complete tasks, thus we need : quick and intuitive means for designing robot motions tools for easy testing, debugging, and editing of motions tools for fine tuning existing motion patterns
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
all robot tasks involve some kind of motion motion is composed by poses poses are instances of complete robot configurations frames to a video is the equivalent of poses to a motion motion is about transitions from one pose to another motion is a timed sequence of poses Motion definition is reduced to sequencing key poses!
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
all robot tasks involve some kind of motion motion is composed by poses poses are instances of complete robot configurations frames to a video is the equivalent of poses to a motion motion is about transitions from one pose to another motion is a timed sequence of poses Motion definition is reduced to sequencing key poses!
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
all robot tasks involve some kind of motion motion is composed by poses poses are instances of complete robot configurations frames to a video is the equivalent of poses to a motion motion is about transitions from one pose to another motion is a timed sequence of poses Motion definition is reduced to sequencing key poses!
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
all robot tasks involve some kind of motion motion is composed by poses poses are instances of complete robot configurations frames to a video is the equivalent of poses to a motion motion is about transitions from one pose to another motion is a timed sequence of poses Motion definition is reduced to sequencing key poses!
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
all robot tasks involve some kind of motion motion is composed by poses poses are instances of complete robot configurations frames to a video is the equivalent of poses to a motion motion is about transitions from one pose to another motion is a timed sequence of poses Motion definition is reduced to sequencing key poses!
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
all robot tasks involve some kind of motion motion is composed by poses poses are instances of complete robot configurations frames to a video is the equivalent of poses to a motion motion is about transitions from one pose to another motion is a timed sequence of poses Motion definition is reduced to sequencing key poses!
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
all robot tasks involve some kind of motion motion is composed by poses poses are instances of complete robot configurations frames to a video is the equivalent of poses to a motion motion is about transitions from one pose to another motion is a timed sequence of poses Motion definition is reduced to sequencing key poses!
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
Poses are best understood in the physical space Poses are best represented in the configuration space Physical Space Configuration Space (0.34, 1.68, 3.27,
23.87, -0.23, 12.23, 12.53, 2.23, -6.32, 23.78, 9.65, 3.27,
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
Poses are best understood in the physical space Poses are best represented in the configuration space Physical Space Configuration Space (0.34, 1.68, 3.27,
23.87, -0.23, 12.23, 12.53, 2.23, -6.32, 23.78, 9.65, 3.27,
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
Kinematic Equations
Transformation between physical space and configuration space
Forward Kinematics
Configuration Space (joint angles) ⇓ Physical Space (joint position)
Inverse Kinematics
Physical Space (joint position) ⇓ Configuration Space (joint angles)
Kinematics without Mathematics
kinematics are freely available through the joints and the encoders! forward: set the desired joint values, let the joints move, observe pose inverse: manually place the joints to desired pose, capture joint values
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
Kinematic Equations
Transformation between physical space and configuration space
Forward Kinematics
Configuration Space (joint angles) ⇓ Physical Space (joint position)
Inverse Kinematics
Physical Space (joint position) ⇓ Configuration Space (joint angles)
Kinematics without Mathematics
kinematics are freely available through the joints and the encoders! forward: set the desired joint values, let the joints move, observe pose inverse: manually place the joints to desired pose, capture joint values
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
Kinematic Equations
Transformation between physical space and configuration space
Forward Kinematics
Configuration Space (joint angles) ⇓ Physical Space (joint position)
Inverse Kinematics
Physical Space (joint position) ⇓ Configuration Space (joint angles)
Kinematics without Mathematics
kinematics are freely available through the joints and the encoders! forward: set the desired joint values, let the joints move, observe pose inverse: manually place the joints to desired pose, capture joint values
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
Kinematic Equations
Transformation between physical space and configuration space
Forward Kinematics
Configuration Space (joint angles) ⇓ Physical Space (joint position)
Inverse Kinematics
Physical Space (joint position) ⇓ Configuration Space (joint angles)
Kinematics without Mathematics
kinematics are freely available through the joints and the encoders! forward: set the desired joint values, let the joints move, observe pose inverse: manually place the joints to desired pose, capture joint values
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
Kinematic Equations
Transformation between physical space and configuration space
Forward Kinematics
Configuration Space (joint angles) ⇓ Physical Space (joint position)
Inverse Kinematics
Physical Space (joint position) ⇓ Configuration Space (joint angles)
Kinematics without Mathematics
kinematics are freely available through the joints and the encoders! forward: set the desired joint values, let the joints move, observe pose inverse: manually place the joints to desired pose, capture joint values
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
Joint Control transition: moving joints from one pose to another assumption: controller for moving to nearby poses straight line between poses in the configuration space constant joint velocity during transition Nao: use of gotoBodyAngles(c, t, LINEAR) A complex motion is ... ... not a linear transition between start and end, but ... ... an arbitrary trajectory in the configuration space.
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
Joint Control transition: moving joints from one pose to another assumption: controller for moving to nearby poses straight line between poses in the configuration space constant joint velocity during transition Nao: use of gotoBodyAngles(c, t, LINEAR) A complex motion is ... ... not a linear transition between start and end, but ... ... an arbitrary trajectory in the configuration space.
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
Joint Control transition: moving joints from one pose to another assumption: controller for moving to nearby poses straight line between poses in the configuration space constant joint velocity during transition Nao: use of gotoBodyAngles(c, t, LINEAR) A complex motion is ... ... not a linear transition between start and end, but ... ... an arbitrary trajectory in the configuration space.
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
Poses for Transitions approximate the motion trajectory using linear segments find the key poses to mark different linear segments Poses for Timing a motion may require varying transition speeds find the key poses to mark changes of transition speeds Pose Management pose: 22-dimensional vector (21 for joints + 1 for time) motion: sequences of 22-dimensional vectors Complex motions cannot be handled by hand!!!
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
Poses for Transitions approximate the motion trajectory using linear segments find the key poses to mark different linear segments Poses for Timing a motion may require varying transition speeds find the key poses to mark changes of transition speeds Pose Management pose: 22-dimensional vector (21 for joints + 1 for time) motion: sequences of 22-dimensional vectors Complex motions cannot be handled by hand!!!
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
Poses for Transitions approximate the motion trajectory using linear segments find the key poses to mark different linear segments Poses for Timing a motion may require varying transition speeds find the key poses to mark changes of transition speeds Pose Management pose: 22-dimensional vector (21 for joints + 1 for time) motion: sequences of 22-dimensional vectors Complex motions cannot be handled by hand!!!
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns
Poses for Transitions approximate the motion trajectory using linear segments find the key poses to mark different linear segments Poses for Timing a motion may require varying transition speeds find the key poses to mark changes of transition speeds Pose Management pose: 22-dimensional vector (21 for joints + 1 for time) motion: sequences of 22-dimensional vectors Complex motions cannot be handled by hand!!!
An Interactive Tool for Designing Complex Robot Motion Patterns Kouretes Motion Editor
1
Aldebaran Nao Humanoid Robot
2
Robot Motion Patterns
3
Kouretes Motion Editor
4
Empirical Evaluation
5
Conclusion
An Interactive Tool for Designing Complex Robot Motion Patterns Kouretes Motion Editor
An Interactive Software Tool for Designing Complex Robot Motion Patterns KME Features
interactive pose manipulation and motion design fast, light, and intuitive GUI client-server architecture support for both real and simulated (Webots, MSRS) robots reliable real-time communication with the robot compatibility with multiple operating systems (Linux, Windows, MacOS) parameterizable for several robotic platforms
An Interactive Tool for Designing Complex Robot Motion Patterns Kouretes Motion Editor
An Interactive Software Tool for Designing Complex Robot Motion Patterns KME Features
interactive pose manipulation and motion design fast, light, and intuitive GUI client-server architecture support for both real and simulated (Webots, MSRS) robots reliable real-time communication with the robot compatibility with multiple operating systems (Linux, Windows, MacOS) parameterizable for several robotic platforms
An Interactive Tool for Designing Complex Robot Motion Patterns Kouretes Motion Editor
An Interactive Software Tool for Designing Complex Robot Motion Patterns KME Features
interactive pose manipulation and motion design fast, light, and intuitive GUI client-server architecture support for both real and simulated (Webots, MSRS) robots reliable real-time communication with the robot compatibility with multiple operating systems (Linux, Windows, MacOS) parameterizable for several robotic platforms
An Interactive Tool for Designing Complex Robot Motion Patterns Kouretes Motion Editor
An Interactive Software Tool for Designing Complex Robot Motion Patterns KME Features
interactive pose manipulation and motion design fast, light, and intuitive GUI client-server architecture support for both real and simulated (Webots, MSRS) robots reliable real-time communication with the robot compatibility with multiple operating systems (Linux, Windows, MacOS) parameterizable for several robotic platforms
An Interactive Tool for Designing Complex Robot Motion Patterns Kouretes Motion Editor
An Interactive Software Tool for Designing Complex Robot Motion Patterns KME Features
interactive pose manipulation and motion design fast, light, and intuitive GUI client-server architecture support for both real and simulated (Webots, MSRS) robots reliable real-time communication with the robot compatibility with multiple operating systems (Linux, Windows, MacOS) parameterizable for several robotic platforms
An Interactive Tool for Designing Complex Robot Motion Patterns Kouretes Motion Editor
An Interactive Software Tool for Designing Complex Robot Motion Patterns KME Features
interactive pose manipulation and motion design fast, light, and intuitive GUI client-server architecture support for both real and simulated (Webots, MSRS) robots reliable real-time communication with the robot compatibility with multiple operating systems (Linux, Windows, MacOS) parameterizable for several robotic platforms
An Interactive Tool for Designing Complex Robot Motion Patterns Kouretes Motion Editor
An Interactive Software Tool for Designing Complex Robot Motion Patterns KME Features
interactive pose manipulation and motion design fast, light, and intuitive GUI client-server architecture support for both real and simulated (Webots, MSRS) robots reliable real-time communication with the robot compatibility with multiple operating systems (Linux, Windows, MacOS) parameterizable for several robotic platforms
An Interactive Tool for Designing Complex Robot Motion Patterns Kouretes Motion Editor
An Interactive Software Tool for Designing Complex Robot Motion Patterns KME Features
interactive pose manipulation and motion design fast, light, and intuitive GUI client-server architecture support for both real and simulated (Webots, MSRS) robots reliable real-time communication with the robot compatibility with multiple operating systems (Linux, Windows, MacOS) parameterizable for several robotic platforms
An Interactive Tool for Designing Complex Robot Motion Patterns Kouretes Motion Editor
KME-Client Server Robot
An Interactive Tool for Designing Complex Robot Motion Patterns Kouretes Motion Editor
An Interactive Tool for Designing Complex Robot Motion Patterns Kouretes Motion Editor
Poses can be ... ... created by setting the joint values through the sliders ... created by capturing the current joint values of the robot ... updated, inserted, deleted, shifted, swapped, ... Motions can be ... ... executed in a step-by-step fashion ... executed continuously as a whole ... executed in different time scales ... exported to .kme files for use with C++ or Python ... exported as symmetric to the sagittal plane ... exported as temporally reverse
An Interactive Tool for Designing Complex Robot Motion Patterns Kouretes Motion Editor
Poses can be ... ... created by setting the joint values through the sliders ... created by capturing the current joint values of the robot ... updated, inserted, deleted, shifted, swapped, ... Motions can be ... ... executed in a step-by-step fashion ... executed continuously as a whole ... executed in different time scales ... exported to .kme files for use with C++ or Python ... exported as symmetric to the sagittal plane ... exported as temporally reverse
An Interactive Tool for Designing Complex Robot Motion Patterns Kouretes Motion Editor
Complex motions ... ... are designed without writing a single line of code ... can be rapidly tested and debugged ... can be organized in motion libraries ... can be shared, used, and modified by other users ... can be integrated into any robot behavior ... can be used as seeds in learning algorithms for tuning ... (proprietary) could be reverse-engineered and modified
An Interactive Tool for Designing Complex Robot Motion Patterns Kouretes Motion Editor
XML configuration KME is fully customizable XML files for configuration
<Robot> <manufacturer>Aldebaran-Robotics</manufacturer> <type>Nao</type> <JointNumber>22</JointNumber> <Joint> <name>HeadYaw</name> <minBound>-120.0</minBound> <maxBound>120.0</maxBound> <step>0.0</step> <color>24</color> <coupledWith>None</coupledWith> <couplingType>None</couplingType> <indexOrder>0</indexOrder> </Joint> . . . </Robot>
An Interactive Tool for Designing Complex Robot Motion Patterns Empirical Evaluation
1
Aldebaran Nao Humanoid Robot
2
Robot Motion Patterns
3
Kouretes Motion Editor
4
Empirical Evaluation
5
Conclusion
An Interactive Tool for Designing Complex Robot Motion Patterns Empirical Evaluation
KME was used at Robocup 2008 in Suzhou, China Soccer skills: Stand Up, Goalkeeper Dive, Kick, Bend
An Interactive Tool for Designing Complex Robot Motion Patterns Empirical Evaluation
An Interactive Tool for Designing Complex Robot Motion Patterns Empirical Evaluation
An Interactive Tool for Designing Complex Robot Motion Patterns Empirical Evaluation
An Interactive Tool for Designing Complex Robot Motion Patterns Empirical Evaluation
An Interactive Tool for Designing Complex Robot Motion Patterns Empirical Evaluation
KME was used at RomeCup 2009 in Rome, Italy complete dance choreography designed in just one day
An Interactive Tool for Designing Complex Robot Motion Patterns Empirical Evaluation
An Interactive Tool for Designing Complex Robot Motion Patterns Conclusion
1
Aldebaran Nao Humanoid Robot
2
Robot Motion Patterns
3
Kouretes Motion Editor
4
Empirical Evaluation
5
Conclusion
An Interactive Tool for Designing Complex Robot Motion Patterns Conclusion
Summary KME is an intuitive and interactive motion editor KME Distribution Available from www.kouretes.gr/kme Recognition Invited Demonstration, Forum on Mobile Robots and Auto- nomous Systems, Hannover Messe, Germany, April 2009 “The Kouretes Team included far the best motion of the NAO robots out of 16 teams from multiple countries.” (Manuela Veloso, RoboCup Federation)
An Interactive Tool for Designing Complex Robot Motion Patterns Conclusion
Summary KME is an intuitive and interactive motion editor KME Distribution Available from www.kouretes.gr/kme Recognition Invited Demonstration, Forum on Mobile Robots and Auto- nomous Systems, Hannover Messe, Germany, April 2009 “The Kouretes Team included far the best motion of the NAO robots out of 16 teams from multiple countries.” (Manuela Veloso, RoboCup Federation)
An Interactive Tool for Designing Complex Robot Motion Patterns Conclusion
Summary KME is an intuitive and interactive motion editor KME Distribution Available from www.kouretes.gr/kme Recognition Invited Demonstration, Forum on Mobile Robots and Auto- nomous Systems, Hannover Messe, Germany, April 2009 “The Kouretes Team included far the best motion of the NAO robots out of 16 teams from multiple countries.” (Manuela Veloso, RoboCup Federation)
An Interactive Tool for Designing Complex Robot Motion Patterns Conclusion
Summary KME is an intuitive and interactive motion editor KME Distribution Available from www.kouretes.gr/kme Recognition Invited Demonstration, Forum on Mobile Robots and Auto- nomous Systems, Hannover Messe, Germany, April 2009 “The Kouretes Team included far the best motion of the NAO robots out of 16 teams from multiple countries.” (Manuela Veloso, RoboCup Federation)
An Interactive Tool for Designing Complex Robot Motion Patterns Conclusion
An Interactive Tool for Designing Complex Robot Motion Patterns Conclusion Related Work
KME competititors for the Nao robot Choregraphe Developed by Aldebaran Motion and behavior editor Event-based execution VRML model of the robot Proprietary software Quite expensive Motion Designer Developed by Microsoft Hellhounds Versions for Nao and Aibo Custom Motion Editing Not publicly available
An Interactive Tool for Designing Complex Robot Motion Patterns Conclusion Related Work
MEdit Developed by Sony Aibo specific tool Does not communicate with the robot Does not communicate with simulators VRML model of the Aibo Abandoned early Difficult in motion design Skitter Great free tool Aibo specific Includes motion, light and sound on the same timeline VRML model Does not communicate directly with the robot Motions can be tested after the end of development
An Interactive Tool for Designing Complex Robot Motion Patterns Conclusion Future Work
Short-Term Plans Porting KME to Qt Improved functionality Partial configurations Aibo and Bioloid robots Long-Term Plans Motion Safety Analysis Feasibility Analysis Closed-Loop Motions VRML model
An Interactive Tool for Designing Complex Robot Motion Patterns Conclusion Robocup
RoboCup : The Robot Soccer World Cup But, why run such a competition? Purpose To promote advances in robotics through a challenging testbed Bold Vision “By the year 2050, develop a team of fully autonomous humanoid robots that can play and win against the human world champion soccer team.”
An Interactive Tool for Designing Complex Robot Motion Patterns Conclusion Robocup
RoboCup : The Robot Soccer World Cup But, why run such a competition? Purpose To promote advances in robotics through a challenging testbed Bold Vision “By the year 2050, develop a team of fully autonomous humanoid robots that can play and win against the human world champion soccer team.”
An Interactive Tool for Designing Complex Robot Motion Patterns Conclusion Robocup
RoboCup : The Robot Soccer World Cup But, why run such a competition? Purpose To promote advances in robotics through a challenging testbed Bold Vision “By the year 2050, develop a team of fully autonomous humanoid robots that can play and win against the human world champion soccer team.”
An Interactive Tool for Designing Complex Robot Motion Patterns Conclusion Robocup
RoboCup Divisions RoboRescue RoboCup@Home RoboCup Junior RoboCup Soccer League
Standard Platform League Simulation League Small Size League Middle Size league Humanoid League
An Interactive Tool for Designing Complex Robot Motion Patterns Conclusion Standard Platform League
An Interactive Tool for Designing Complex Robot Motion Patterns Conclusion Standard Platform League
Why is SPL important? SPL teams share the same hardware and focus on software SPL participants ... ... abstract from the physical layer ... face the same hardware problems ... compete in software solutions ... promote intelligent information processing
An Interactive Tool for Designing Complex Robot Motion Patterns Conclusion Kouretes
Team Kouretes RoboCup team of the Technical University of Crete ECE and DPEM students www.kouretes.gr Participation and Distinctions RoboCup 2006 : Technical Challenges German Open 2007: Four-Legged League RoboCup 2007 : 2nd place in the MSRS League RoboCup 2008 : 1st place in the MSRS League 3rd place in the SPL-Nao top 8 in the SPL-Webots