Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf ·...
Transcript of Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf ·...
![Page 1: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/1.jpg)
6.Insight Presentation | September 2007 MIT
Lab Projects Overviewby
Mikey Siegel
Personal Robots Group
![Page 2: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/2.jpg)
6.Insight Presentation | September 2007 MIT
![Page 3: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/3.jpg)
6.Insight Presentation | September 2007 MIT
![Page 4: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/4.jpg)
6.Insight Presentation | September 2007 MIT
![Page 5: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/5.jpg)
6.Insight Presentation | September 2007 MIT
![Page 6: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/6.jpg)
6.Insight Presentation | September 2007 MIT
![Page 7: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/7.jpg)
6.Insight Presentation | September 2007 MIT
Contents
Introduction to HRI and Social Robots
Project Descriptions
Project 1: LeonardoProject 2: HuggableProject 3: AUR: Robotic Desk LampProject 4: Weight Loss RobotsProject 5: OperoBots
Conclusion and Discussion
![Page 8: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/8.jpg)
6.Insight Presentation | September 2007 MIT
Human Robot Interaction
![Page 9: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/9.jpg)
6.Insight Presentation | September 2007 MIT
![Page 10: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/10.jpg)
6.Insight Presentation | September 2007 MIT
![Page 11: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/11.jpg)
6.Insight Presentation | September 2007 MIT
Human Robot Interaction
![Page 12: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/12.jpg)
6.Insight Presentation | September 2007 MIT
![Page 13: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/13.jpg)
6.Insight Presentation | September 2007 MIT
Social HRI
![Page 14: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/14.jpg)
6.Insight Presentation | September 2007 MIT
Social Robots
Early work was inspired byinteraction among insectsand the term socialreferred to interactionamong a group of robots.
Brooks, R. A. A Robot thatWalks; Emergent Behaviors froma Carefully Evolved Network. MITAI Lab Memo 1091, February1989.
![Page 15: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/15.jpg)
6.Insight Presentation | September 2007 MIT
Sociable Robots
Later work on humanoid robotsused the term sociable to talkabout robots that embodiedhuman intelligence andresponded to human input
Brooks, R., et al. The Cog Project:Building a Humanoid Robot. inNehaniv, ed. Computation forMetaphors, Analogy and Agents.Springer LNCS, 1998.
![Page 16: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/16.jpg)
6.Insight Presentation | September 2007 MIT
Sociable Robots
Currently a sociable robot isdefined as participating in socialinteractions with people in orderto satisfy some internal goal ormotivation
Breazeal, C. Designing SociableRobots. MIT Press, 2002.
![Page 17: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/17.jpg)
6.Insight Presentation | September 2007 MIT
Social Robots
![Page 18: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/18.jpg)
6.Insight Presentation | September 2007 MIT
Leonardo
![Page 19: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/19.jpg)
6.Insight Presentation | September 2007 MIT
Leonardo
![Page 20: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/20.jpg)
6.Insight Presentation | September 2007 MIT
Leonardo
• Social Referencing Vid
![Page 21: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/21.jpg)
6.Insight Presentation | September 2007 MIT
![Page 22: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/22.jpg)
6.Insight Presentation | September 2007 MIT
The Huggable
Dan Stiehl
![Page 23: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/23.jpg)
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
QuietMechanicalDrives
InertialMeasurement Unit(Morris, 2004)
Cameras
Microphones
Speaker
Embedded PC w/802.11g
Goal: Clinical Trials in Hospitals and Nursing Homes
![Page 24: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/24.jpg)
6.Insight Presentation | September 2007 MIT
Huggable: Sensitive Skin• Full-body sensor coverage with distributed
processing of hundreds of sensors in eachbody region: estimate of ~1000 sensors forentire 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
![Page 25: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/25.jpg)
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 andto robot
• Degrees of Freedom:– 2-DOF Neck (relational touch)– 2-DOF Eyebrow (expression)– 2-DOF “Hug” (relational touch)– 1-DOF Ears (expression)*
*in development
![Page 26: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/26.jpg)
6.Insight Presentation | September 2007 MIT
![Page 27: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/27.jpg)
6.Insight Presentation | September 2007 MIT
AUR: Robotic Desk Lamp
Guy Hoffman
![Page 28: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/28.jpg)
6.Insight Presentation | September 2007 MIT
AUR: Robotic Desk Lamp
• Video
![Page 29: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/29.jpg)
6.Insight Presentation | September 2007 MIT
Sociable Robot for Weight Maintenance
Cory Kidd
![Page 30: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/30.jpg)
6.Insight Presentation | September 2007 MIT
![Page 31: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/31.jpg)
6.Insight Presentation | September 2007 MIT
OperoBots
Mikey SiegelJeff Lieberman
![Page 32: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/32.jpg)
6.Insight Presentation | September 2007 MIT
OperoBots
• Concept Video
![Page 33: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/33.jpg)
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
![Page 34: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/34.jpg)
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
![Page 35: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/35.jpg)
6.Insight Presentation | September 2007 MIT
OperoBots: Tracking System
![Page 36: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/36.jpg)
6.Insight Presentation | September 2007 MIT
OperoBots: Tracking System
![Page 37: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/37.jpg)
6.Insight Presentation | September 2007 MIT
Position/Orientation
Identification
![Page 38: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/38.jpg)
6.Insight Presentation | September 2007 MIT
![Page 39: Personal Robots Group - web.mit.eduweb.mit.edu/eecsgsa/6insight/www/slides/mikey-20070911.pdf · 6.Insight Presentation | September 2007 MIT Social Robots Early work was inspired](https://reader034.fdocuments.us/reader034/viewer/2022042222/5ec85b1ae7c32577a8113d14/html5/thumbnails/39.jpg)
6.Insight Presentation | September 2007 MIT
Thank YouWe’re currently looking for UROPS!
Visit anytime: E15-468
Email: mikeys at media.mit.edu
Web: Robotic.media.mit.edu