Performativities, Virtualities, Abstractions, and Cunningham's BIPED

This thesis explores the complex relations between subjective perception and dance movements, mainly exemplified by drawing on two short extracts from Merce Cunningham's choreography BIPED (1999). The central aim of the study is to formulate a performative phenomenological inquiry, which moves beyond an identification of essences, and towards an understanding of the lived experience of a dance performance as being grounded on iterations of the "abstract". The concept of the abstract primarily signifies an alternative mode of understanding Henry Bergson's notion of duration. Considering Gilles Deleuze's reading of Bergson's intuition as a method to divide the experience of a lived present into a temporal difference in kind between the virtual and the actual, this thesis suggests a complementary division of duration into virtual and actual kinds of abstraction. In addition to Bergson's method of intuition, the discussion is phenomenologically rooted in Maurice Merleau-Ponty's concept of the body image and Gaston Bachelards idea of non-causal reverberation. As with the case of intuition, those phenomenological concepts are applied unconventionally. Rather than serving as a pre-objective ontological basis for an analytical and scientific understanding of subjective embodiment, the notion of a reverberating body image is here treated as a form of mimesis, performatively constituted through symbolic and representational practices. Hence, in phenomenological terms, the rationale of the thesis is predominantly sustained by the philosophy of Ernst Cassirer, arguing that reality cannot be approached directly, but only through the concept of the symbol. The viewpoint from where I speak has performative cybernetic characteristics, continuously and dynamically transgressing boundaries and reconstituting itself through iterative and citational practices. Additionally, as I move between the analytical and the intuitive, as well as between the virtual and the actual, the formal structure of the thesis corresponds to a liminal transformation of the speaking subjectivity

Service Robots in Catering Applications: A Review and Future Challenges.

“Hello, I’m the TERMINATOR, and I’ll be your server today”. Diners might soon be feeling this greeting, with Optimus Prime in the kitchen and Wall-E then sending your order to C-3PO. In our daily lives, a version of that future is already showing up. Robotics companies are designing robots to handle tasks, including serving, interacting, collaborating, and helping. These service robots are intended to coexist with humans and engage in relationships that lead them to a better quality of life in our society. Their constant evolution and the arising of new challenges lead to an update of the existing systems. This update provides a generic vision of two questions: the advance of service robots, and more importantly, how these robots are applied in society (professional and personal) based on the market application. In this update, a new category is proposed: catering robotics. This proposal is based on the technological advances that generate new multidisciplinary application fields and challenges. Waiter robots is an example of the catering robotics. These robotic platforms might have social capacities to interact with the consumer and other robots, and at the same time, might have physical skills to perform complex tasks in professional environments such as restaurants. This paper explains the guidelines to develop a waiter robot, considering aspects such as architecture, interaction, planning, and executionpost-print13305 K

Enabling Human-Robot Collaboration via Holistic Human Perception and Partner-Aware Control

As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of the hour, and progress in robotics holds the potential to address many societal challenges. The future socio-technical systems constitute of blended workforce with a symbiotic relationship between human and robot partners working collaboratively. This thesis attempts to address some of the research challenges in enabling human-robot collaboration. In particular, the challenge of a holistic perception of a human partner to continuously communicate his intentions and needs in real-time to a robot partner is crucial for the successful realization of a collaborative task. Towards that end, we present a holistic human perception framework for real-time monitoring of whole-body human motion and dynamics. On the other hand, the challenge of leveraging assistance from a human partner will lead to improved human-robot collaboration. In this direction, we attempt at methodically defining what constitutes assistance from a human partner and propose partner-aware robot control strategies to endow robots with the capacity to meaningfully engage in a collaborative task

Scaled Autonomy for Networked Humanoids

Humanoid robots have been developed with the intention of aiding in environments designed for humans. As such, the control of humanoid morphology and effectiveness of human robot interaction form the two principal research issues for deploying these robots in the real world. In this thesis work, the issue of humanoid control is coupled with human robot interaction under the framework of scaled autonomy, where the human and robot exchange levels of control depending on the environment and task at hand. This scaled autonomy is approached with control algorithms for reactive stabilization of human commands and planned trajectories that encode semantically meaningful motion preferences in a sequential convex optimization framework. The control and planning algorithms have been extensively tested in the field for robustness and system verification. The RoboCup competition provides a benchmark competition for autonomous agents that are trained with a human supervisor. The kid-sized and adult-sized humanoid robots coordinate over a noisy network in a known environment with adversarial opponents, and the software and routines in this work allowed for five consecutive championships. Furthermore, the motion planning and user interfaces developed in the work have been tested in the noisy network of the DARPA Robotics Challenge (DRC) Trials and Finals in an unknown environment. Overall, the ability to extend simplified locomotion models to aid in semi-autonomous manipulation allows untrained humans to operate complex, high dimensional robots. This represents another step in the path to deploying humanoids in the real world, based on the low dimensional motion abstractions and proven performance in real world tasks like RoboCup and the DRC