SLIDE 1
6.Insight Presentation | September 2007 MIT
Lab Projects Overview by Mikey Siegel
6.Insight Presentation | September 2007 MIT
Personal Robots Group Lab Projects Overview by Mikey Siegel 6. - - PowerPoint PPT Presentation
Personal Robots Group Lab Projects Overview by Mikey Siegel 6. - - PowerPoint PPT Presentation
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
SLIDE 2
SLIDE 3
6.Insight Presentation | September 2007 MIT
SLIDE 4
6.Insight Presentation | September 2007 MIT
SLIDE 5
6.Insight Presentation | September 2007 MIT
SLIDE 6
6.Insight Presentation | September 2007 MIT
SLIDE 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
SLIDE 8
6.Insight Presentation | September 2007 MIT
Human Robot Interaction
SLIDE 9
6.Insight Presentation | September 2007 MIT
SLIDE 10
6.Insight Presentation | September 2007 MIT
SLIDE 11
6.Insight Presentation | September 2007 MIT
Human Robot Interaction
SLIDE 12
6.Insight Presentation | September 2007 MIT
SLIDE 13
6.Insight Presentation | September 2007 MIT
Social HRI
SLIDE 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.
SLIDE 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.
SLIDE 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.
SLIDE 17
6.Insight Presentation | September 2007 MIT
Social Robots
SLIDE 18
6.Insight Presentation | September 2007 MIT
Leonardo
SLIDE 19
6.Insight Presentation | September 2007 MIT
Leonardo
SLIDE 20
6.Insight Presentation | September 2007 MIT
Leonardo
- Social Referencing Vid
SLIDE 21
6.Insight Presentation | September 2007 MIT
SLIDE 22
6.Insight Presentation | September 2007 MIT
The Huggable
Dan Stiehl
SLIDE 23
6.Insight Presentation | September 2007 MIT
The Huggable: Design Overview
Full Body “Sensitive Skin”
Based upon research in pet therapy and the human and animal somatosensory system
Quiet Mechanical Drives Inertial Measurement Unit (Morris, 2004) Cameras Microphones Speaker Embedded PC w/802.11g Goal: Clinical Trials
in Hospitals and Nursing Homes
SLIDE 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
SLIDE 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
SLIDE 26
6.Insight Presentation | September 2007 MIT
SLIDE 27
6.Insight Presentation | September 2007 MIT
AUR: Robotic Desk Lamp
Guy Hoffman
SLIDE 28
6.Insight Presentation | September 2007 MIT
AUR: Robotic Desk Lamp
- Video
SLIDE 29
6.Insight Presentation | September 2007 MIT
Sociable Robot for Weight Maintenance
Cory Kidd
SLIDE 30
6.Insight Presentation | September 2007 MIT
SLIDE 31
6.Insight Presentation | September 2007 MIT
OperoBots
Mikey Siegel Jeff Lieberman
SLIDE 32
6.Insight Presentation | September 2007 MIT
OperoBots
- Concept Video
SLIDE 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
SLIDE 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
SLIDE 35
6.Insight Presentation | September 2007 MIT
OperoBots: Tracking System
SLIDE 36
6.Insight Presentation | September 2007 MIT
OperoBots: Tracking System
SLIDE 37
6.Insight Presentation | September 2007 MIT
Position/Orientation Identification
SLIDE 38
6.Insight Presentation | September 2007 MIT
SLIDE 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