Learning Algorithm Design for Human-Robot Skill Transfer

In this research, we develop an intelligent learning scheme for performing human-robot skills transfer. Techniques adopted in the scheme include the Dynamic Movement Prim- itive (DMP) method with Dynamic Time Warping (DTW), Gaussian Mixture Model (G- MM) with Gaussian Mixture Regression (GMR) and the Radical Basis Function Neural Networks (RBFNNs). A series of experiments are conducted on a Baxter robot, a NAO robot and a KUKA iiwa robot to verify the effectiveness of the proposed design.During the design of the intelligent learning scheme, an online tracking system is de- veloped to control the arm and head movement of the NAO robot using a Kinect sensor. The NAO robot is a humanoid robot with 5 degrees of freedom (DOF) for each arm. The joint motions of the operator’s head and arm are captured by a Kinect V2 sensor, and this information is then transferred into the workspace via the forward and inverse kinematics. In addition, to improve the tracking performance, a Kalman filter is further employed to fuse motion signals from the operator sensed by the Kinect V2 sensor and a pair of MYO armbands, so as to teleoperate the Baxter robot. In this regard, a new strategy is developed using the vector approach to accomplish a specific motion capture task. For instance, the arm motion of the operator is captured by a Kinect sensor and programmed through a processing software. Two MYO armbands with embedded inertial measurement units are worn by the operator to aid the robots in detecting and replicating the operator’s arm movements. For this purpose, the armbands help to recognize and calculate the precise velocity of motion of the operator’s arm. Additionally, a neural network based adaptive controller is designed and implemented on the Baxter robot to illustrate the validation forthe teleoperation of the Baxter robot.Subsequently, an enhanced teaching interface has been developed for the robot using DMP and GMR. Motion signals are collected from a human demonstrator via the Kinect v2 sensor, and the data is sent to a remote PC for teleoperating the Baxter robot. At this stage, the DMP is utilized to model and generalize the movements. In order to learn from multiple demonstrations, DTW is used for the preprocessing of the data recorded on the robot platform, and GMM is employed for the evaluation of DMP to generate multiple patterns after the completion of the teaching process. Next, we apply the GMR algorithm to generate a synthesized trajectory to minimize position errors in the three dimensional (3D) space. This approach has been tested by performing tasks on a KUKA iiwa and a Baxter robot, respectively.Finally, an optimized DMP is added to the teaching interface. A character recombination technology based on DMP segmentation that uses verbal command has also been developed and incorporated in a Baxter robot platform. To imitate the recorded motion signals produced by the demonstrator, the operator trains the Baxter robot by physically guiding it to complete the given task. This is repeated five times, and the generated training data set is utilized via the playback system. Subsequently, the DTW is employed to preprocess the experimental data. For modelling and overall movement control, DMP is chosen. The GMM is used to generate multiple patterns after implementing the teaching process. Next, we employ the GMR algorithm to reduce position errors in the 3D space after a synthesized trajectory has been generated. The Baxter robot, remotely controlled by the user datagram protocol (UDP) in a PC, records and reproduces every trajectory. Additionally, Dragon Natural Speaking software is adopted to transcribe the voice data. This proposed approach has been verified by enabling the Baxter robot to perform a writing task of drawing robot has been taught to write only one character

AXMEDIS 2007 Conference Proceedings

The AXMEDIS International Conference series has been established since 2005 and is focused on the research, developments and applications in the cross-media domain, exploring innovative technologies to meet the challenges of the sector. AXMEDIS2007 deals with all subjects and topics related to cross-media and digital-media content production, processing, management, standards, representation, sharing, interoperability, protection and rights management. It addresses the latest developments and future trends of the technologies and their applications, their impact and exploitation within academic, business and industrial communities

Computer-Assisted Interactive Documentary and Performance Arts in Illimitable Space

This major component of the research described in this thesis is 3D computer graphics, specifically the realistic physics-based softbody simulation and haptic responsive environments. Minor components include advanced human-computer interaction environments, non-linear documentary storytelling, and theatre performance. The journey of this research has been unusual because it requires a researcher with solid knowledge and background in multiple disciplines; who also has to be creative and sensitive in order to combine the possible areas into a new research direction. [...] It focuses on the advanced computer graphics and emerges from experimental cinematic works and theatrical artistic practices. Some development content and installations are completed to prove and evaluate the described concepts and to be convincing. [...] To summarize, the resulting work involves not only artistic creativity, but solving or combining technological hurdles in motion tracking, pattern recognition, force feedback control, etc., with the available documentary footage on film, video, or images, and text via a variety of devices [....] and programming, and installing all the needed interfaces such that it all works in real-time. Thus, the contribution to the knowledge advancement is in solving these interfacing problems and the real-time aspects of the interaction that have uses in film industry, fashion industry, new age interactive theatre, computer games, and web-based technologies and services for entertainment and education. It also includes building up on this experience to integrate Kinect- and haptic-based interaction, artistic scenery rendering, and other forms of control. This research work connects all the research disciplines, seemingly disjoint fields of research, such as computer graphics, documentary film, interactive media, and theatre performance together.Comment: PhD thesis copy; 272 pages, 83 figures, 6 algorithm

Efficient Synthesis of Room Acoustics via Scattering Delay Networks

An acoustic reverberator consisting of a network of delay lines connected via scattering junctions is proposed. All parameters of the reverberator are derived from physical properties of the enclosure it simulates. It allows for simulation of unequal and frequency-dependent wall absorption, as well as directional sources and microphones. The reverberator renders the first-order reflections exactly, while making progressively coarser approximations of higher-order reflections. The rate of energy decay is close to that obtained with the image method (IM) and consistent with the predictions of Sabine and Eyring equations. The time evolution of the normalized echo density, which was previously shown to be correlated with the perceived texture of reverberation, is also close to that of IM. However, its computational complexity is one to two orders of magnitude lower, comparable to the computational complexity of a feedback delay network (FDN), and its memory requirements are negligible

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

Endoscopic Targeting Tasks Simulator: An Approach Using Game Engines

The pervasiveness of simulators used in professions requiring the skilled control of expensive machinery such as is the case in the aviation, mining, construction, and naval industries raises an intriguing question about the relatively poor adoption within the field of medicine. Certain surgical procedures such as neuro-endoscopic and laparoscopic lend themselves well to the application of virtual reality based simulators. This is due to the innate ability to decom- pose these complex macro level procedures into a hierarchy of subtasks that can be modelled in a software simulator to augment existing teaching and training techniques. The research in this thesis is focused with the design and implementation of a targeting- based simulator having applications in the evaluation of clinically relevant procedures within the neuro-endoscopic and potentially laparoscopic domains. Existing commercially available surgical simulators within these domains are often associated with being expensive, narrowly focussed in the skills they train, and fail to show statistically significant results in the efficacy of improving user performance through repeated use. Development of a targeting tasks simulator is used to evaluate what methods can be applied to provide a robust, objective measure of human performance as it relates to targeting tasks. In addition to performance evaluation, further research is conducted to help understand the impact of different input modalities; focusing primarily on input from a gamepad style device and as well a newer, more natural user interface provided by the Leap Motion Controller

Annals of Scientific Society for Assembly, Handling and Industrial Robotics

This Open Access proceedings present a good overview of the current research landscape of industrial robots. The objective of MHI Colloquium is a successful networking at academic and management level. Thereby the colloquium is focussing on a high level academic exchange to distribute the obtained research results, determine synergetic effects and trends, connect the actors personally and in conclusion strengthen the research field as well as the MHI community. Additionally there is the possibility to become acquainted with the organizing institute. Primary audience are members of the scientific association for assembly, handling and industrial robots (WG MHI)

Spatial iterative learning control with human guidance and visual detection for path learning and tracking

A popular path learning method is to use off-line programming by demonstration (PbD) to plan a rough path, but it is subjected to uncertainties in the environment so needs to be updated during the task execution. For this purpose, a spatial iterative learning control (sILC) is developed to learn an accurate path through intuitive online correction based on human-robot interaction (HRI). To improve the efficiency and accuracy of the path learning, a visual assistance system is added to HRI, which helps the robot to find the initial path point and complement the correction of the learning error. This method mitigates the requirement on classic ILC that the time period should be consistent in the repetitive interaction task and utilizes the complementary advantages of vision and force sensing, thus addressing the limitations of the vision-based or HRI methods. The rigorous proof of learning convergence and the results of the simulation and experiments on a 7-degree-of-freedom (DoF) Sawyer robot platform illustrate the significance and advantages of the proposed method