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6. Insight Presentation | September 2007 MIT Personal Robots Group Lab Projects Overview by Mikey Siegel 6. Insight Presentation | September 2007 MIT 6. Insight Presentation | September 2007 MIT 6. Insight Presentation | September 2007 MIT

  1. 6. Insight Presentation | September 2007 MIT Personal Robots Group Lab Projects Overview by Mikey Siegel

  2. 6. Insight Presentation | September 2007 MIT

  3. 6. Insight Presentation | September 2007 MIT

  4. 6. Insight Presentation | September 2007 MIT

  5. 6. Insight Presentation | September 2007 MIT

  6. 6. Insight Presentation | September 2007 MIT

  7. 6. Insight Presentation | September 2007 MIT Contents Introduction to HRI and Social Robots Project Descriptions Project 1 : Leonardo Project 2 : Huggable Project 3 : AUR: Robotic Desk Lamp Project 4 : Weight Loss Robots Project 5 : OperoBots Conclusion and Discussion

  8. 6. Insight Presentation | September 2007 MIT Human Robot Interaction

  9. 6. Insight Presentation | September 2007 MIT

  10. 6. Insight Presentation | September 2007 MIT

  11. 6. Insight Presentation | September 2007 MIT Human Robot Interaction

  12. 6. Insight Presentation | September 2007 MIT

  13. 6. Insight Presentation | September 2007 MIT Social HRI

  14. 6. Insight Presentation | September 2007 MIT Social Robots Early work was inspired by interaction among insects and the term social referred to interaction among a group of robots. Brooks , R. A. A Robot that Walks; Emergent Behaviors from a Carefully Evolved Network. MIT AI Lab Memo 1091, February 1989.

  15. 6. Insight Presentation | September 2007 MIT Sociable Robots Later work on humanoid robots used the term sociable to talk about robots that embodied human intelligence and responded to human input Brooks , R., et al. The Cog Project: Building a Humanoid Robot. in Nehaniv, ed. Computation for Metaphors, Analogy and Agents. Springer LNCS, 1998.

  16. 6. Insight Presentation | September 2007 MIT Sociable Robots Currently a sociable robot is defined as participating in social interactions with people in order to satisfy some internal goal or motivation Breazeal , C. Designing Sociable Robots. MIT Press, 2002.

  17. 6. Insight Presentation | September 2007 MIT Social Robots

  18. 6. Insight Presentation | September 2007 MIT Leonardo

  19. 6. Insight Presentation | September 2007 MIT Leonardo

  20. 6. Insight Presentation | September 2007 MIT Leonardo • Social Referencing Vid

  21. 6. Insight Presentation | September 2007 MIT

  22. 6. Insight Presentation | September 2007 MIT The Huggable Dan Stiehl

  23. 6. Insight Presentation | September 2007 MIT The Huggable: Design Overview Microphones Cameras Speaker Quiet Mechanical Drives Full Body “Sensitive Skin” Inertial Embedded PC Measurement Unit w/802.11g (Morris, 2004) Based upon research in pet therapy and the human and animal somatosensory system Goal : Clinical Trials in Hospitals and Nursing Homes

  24. 6. Insight Presentation | September 2007 MIT Huggable: Sensitive Skin • Full-body sensor coverage with distributed processing of hundreds of sensors in each body region: estimate of ~1000 sensors for entire robot • 4 Modalities of Sensing: – Temperature, Touch, Proprioception, Pain • 3 sensor types of somatic information – Electric Field (Motorola 33794): proximity/human contact – Temperature (Thermistors) – Pressure (QTC) • Additional passive potentiometers (ankles, hip joint) • Soft, life-like silicone skin • Affective categorization of touch to distinguish petting, patting, tickling, etc

  25. 6. Insight Presentation | September 2007 MIT Huggable: Mechanical Drive System • Current robotic platforms use geared DC motors – Noise due to gear train – Backlash in the gears – Risk of damage to gear teeth • Quiet Mechanical Drive System – Silent – Smooth Motion – Compliant and Back Drivable to prevent damage to person and to robot • Degrees of Freedom: – 2-DOF Neck (relational touch) – 2-DOF Eyebrow (expression) – 2-DOF “Hug” (relational touch) – 1-DOF Ears (expression)* *in development

  26. 6. Insight Presentation | September 2007 MIT

  27. 6. Insight Presentation | September 2007 MIT AUR: Robotic Desk Lamp Guy Hoffman

  28. 6. Insight Presentation | September 2007 MIT AUR: Robotic Desk Lamp • Video

  29. 6. Insight Presentation | September 2007 MIT Sociable Robot for Weight Maintenance Cory Kidd

  30. 6. Insight Presentation | September 2007 MIT

  31. 6. Insight Presentation | September 2007 MIT OperoBots Jeff Lieberman Mikey Siegel

  32. 6. Insight Presentation | September 2007 MIT OperoBots • Concept Video

  33. 6. Insight Presentation | September 2007 MIT OperoBots: Proof of Concept 1. Direct robot choreography from 3D animation 2. Very accurate real-time tracking and control 3. Compelling and convincing action, suitable for stage

  34. 6. Insight Presentation | September 2007 MIT OperoBots: Proof of Concept 1. Direct robot choreography from 3D animation 2. Very accurate real-time tracking and control 3. Compelling and convincing action, suitable for stage

  35. 6. Insight Presentation | September 2007 MIT OperoBots: Tracking System

  36. 6. Insight Presentation | September 2007 MIT OperoBots: Tracking System

  37. 6. Insight Presentation | September 2007 MIT Position/Orientation Identification

  38. 6. Insight Presentation | September 2007 MIT

  39. 6. Insight Presentation | September 2007 MIT Thank You We’re currently looking for UROPS! Visit anytime: E15-468 Email: mikeys at media.mit.edu Web: Robotic.media.mit.edu

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