Advanced Robotics
Markus Vincze
Automation and Control Institute
Technische Universität Wien
Linz, 9. Okt. 2014, IKT-Forum, Wirtschaftskammer Oberösterreich
Overview
• Vision for Robotics
• Robot success Stories
• Trends?
A Robot in Every Home
• Take robot out of the box and show your favorite
objects & places
• Easy-to-use interface
• Humans link places to
objects, e.g., furniture
• Learn objects & places
• Sensors: Odometry,
Stereo, now: + Kinect
Situated Object Detection
• Interaction of robot structures perception – Driving – floor; orientation – walls; objects – on tables and shelves
• Collects scene and object knowledge during task
execution
Table Plane Pop-out
EU Projekt CogX 2008-2012
Actual scene Stereo
Affordance: plane pop-out
Basic shapes
Model tracking
Object detection in attended
region
Affordance grasp
Learn naïve
physics
IKN saliency map [submitted ICVS 2011]
Basket: Example of Attention Points
2D + 3D saliency map
Pick-up Everything
[Fischinger, ICRA 2013]
Learning Complete Object Models
Detect cubes 3D model model based tracker
[BLORT –
v4r.acin.
tuwien.ac.at]
More Efficient: Learn from the Web
[Wohlkinger, IROS 2012]
Object Class Detection
200 object classes: http://www.3d-net.org
Results Categorization
In Clutter: Hypothesis Verification
Run classifiers object and pose hypotheses
Set of hypotheses = global scene model
Maximise: explained points
Minimise: outliers, double assignments, unexplained
[Aldoma, ECCV 2012, ICRA 2014]
Overview
• Vision for Robotics
• Robot success Stories
• Trends?
Robot Success Stories
Google Self-driving car project
● DARPA grand challenges starting 2004
● Sebastian Thrun (Stanford), Chris Urmson (CMU, Google)
● Fleet of self-driving cars, >160000 miles on public roads
in California & Nevada, San Francisco & Los Angeles
Google Driverless Car
• Based on accurate maps, GPS, odometry,
laser and radar (no cameras)
[E. Guizzo: How Google's Self-Driving Car Works, 2011]
Assisted Driving
[Dariu M. Gavrila, Mercedes E- und S-Class; ICVS 2013]
Assisted Driving
Machine Vision in Robot Inspection
Part position
Print quality
Part measuring
Pose estimation
Plan generation
Pick from box
(simple parts)
Novel Robot Application
Veebot, Mountain View, USA
Robotic Success Stories
Roomba and colleagues
● Braitenberg vehicles with a purpose
● Cheap and very simple
Robot toys, e.g. AIBO, Pleo, & therapy Paro
● More complex, programmable
● Interesting for early adopters and technophiles
irobot
Samsung
Paro
Pleo
Aibo
Romo – Toy Robot
14x11cm, 2 track motion
Face detection
Remote control
Curiosity – look for faces
Care or get bored
Tele-operate motion
Simple SDK: program robot HW
Robot Success Stories
Big Dog
● Marc Raibert (MIT, Boston Dynamics)
● Work starting mid eighties: behaviour-based
adaptation
Big Dog 2010 Quadruped 1987
DARPA Robotics Challenge
● “Help emergency personnel respond to
natural and man-made disasters”
Atlas (Boston Dynamics)
DRC - Winner
• Power of actuators: liquid-cooled motor and
driver module (Schaft, J)
• Google purchased Schaft (and many more)
Developmental Robotics - iCub
3.5 years old, 53 DOF
Platform to develop functions
more and more complex as
in children, e.g.,
Grasping/placing object
Stack objects
Motion of objects
Physical simulation of world
Learning relation to actions
Soft Robotics Inspired by human
compliance
Two „muscle“
concept
Yet difficult to control because of
compliance and flexibility
Passive dynamic walker: uses
potential energy to walk
Community and Cloud
● Willow Garage's PR2 robot and ROS
● Large repertoire of specific purpose components
● Allows rapid prototyping to plug together
application
scenarios
● Cognitive or
good
engineering?
Fetching beer video (1 week
hackathon) [Willow Garage]
Baxter – Two Arm Assembly
HOBBIT – The Mutual Care Robot
Fall Prevention and Acceptance Demographic challenge
Increasing age, highest risk: fall
50% hospital visit persons over 65
175M€ operations; 6% health costs
Robot for fall prevention/detection
Clean up floor, free paths at home
Socially connected, activity, entertainment
49 test persons in A, S, GR
70-88 Jahre, living alone, moderate impairments
Very high acceptance 87%
Rent for their home 77%
3-weeks Study in flats of older persons Haus der Barmherzigkeit
Trends?
• Rescue, hazarduous environments
Where humans cannot go, e.g., taurob
• Service robots: slow steady grow
• Soft robotics
Safe next to humans, e.g., FerRobotics
• Home robots
Google? Cloud robotics: Privacy?
Demographic challenge: Korea!
Community driven: open skill platform
• Industry: human robot collaboration
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