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 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 Motivation: Complex Robot Motions
An Interactive Tool for Designing Complex Robot Motion Patterns Motivation: Designing Complex Motions 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 Outline Aldebaran Nao Humanoid Robot 1 Robot Motion Patterns 2 Kouretes Motion Editor 3 Empirical Evaluation 4 Conclusion 5
An Interactive Tool for Designing Complex Robot Motion Patterns Aldebaran Nao Humanoid Robot Outline Aldebaran Nao Humanoid Robot 1 Robot Motion Patterns 2 Kouretes Motion Editor 3 Empirical Evaluation 4 Conclusion 5
An Interactive Tool for Designing Complex Robot Motion Patterns Aldebaran Nao Humanoid Robot 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 Nao Robot Hardware 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 Nao Robot Software Computer x86 AMD Geode @ 500MHz, 256 MB SDRAM, 1GB flash connectivity : ethernet, IEEE 802.11g wifi, serial cable operating system : embedded Linux distribution 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 Outline Aldebaran Nao Humanoid Robot 1 Robot Motion Patterns 2 Kouretes Motion Editor 3 Empirical Evaluation 4 Conclusion 5
An Interactive Tool for Designing Complex Robot Motion Patterns 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 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 Motion Definition 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 Motion Definition 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 Motion Definition 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 Motion Definition 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 Motion Definition 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 Motion Definition 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 Motion Definition 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 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, -56.43, 9.34, 22.09, 23.87, -0.23, 12.23, 12.53, 2.23, -6.32, 23.78, 9.65, 3.27, -56.43, 9.34, 12.23, -12.53, 2.23, -0.01)
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns Poses 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, -56.43, 9.34, 22.09, 23.87, -0.23, 12.23, 12.53, 2.23, -6.32, 23.78, 9.65, 3.27, -56.43, 9.34, 12.23, -12.53, 2.23, -0.01)
An Interactive Tool for Designing Complex Robot Motion Patterns Robot Motion Patterns Kinematics Kinematic Equations Transformation between physical space and configuration space Forward Kinematics Inverse Kinematics Configuration Space (joint angles) Physical Space (joint position) ⇓ ⇓ 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 Kinematics Kinematic Equations Transformation between physical space and configuration space Forward Kinematics Inverse Kinematics Configuration Space (joint angles) Physical Space (joint position) ⇓ ⇓ 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 Kinematics Kinematic Equations Transformation between physical space and configuration space Forward Kinematics Inverse Kinematics Configuration Space (joint angles) Physical Space (joint position) ⇓ ⇓ 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
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