1,177 research outputs found
Enabling a Pepper Robot to provide Automated and Interactive Tours of a Robotics Laboratory
The Pepper robot has become a widely recognised face for the perceived
potential of social robots to enter our homes and businesses. However, to date,
commercial and research applications of the Pepper have been largely restricted
to roles in which the robot is able to remain stationary. This restriction is
the result of a number of technical limitations, including limited sensing
capabilities, and have as a result, reduced the number of roles in which use of
the robot can be explored. In this paper, we present our approach to solving
these problems, with the intention of opening up new research applications for
the robot. To demonstrate the applicability of our approach, we have framed
this work within the context of providing interactive tours of an open-plan
robotics laboratory.Comment: 8 pages, Submitted to IROS 2018 (2018 IEEE/RSJ International
Conference on Intelligent Robots and Systems), see
https://bitbucket.org/pepper_qut/ for access to the softwar
Robots as Powerful Allies for the Study of Embodied Cognition from the Bottom Up
A large body of compelling evidence has been accumulated demonstrating that
embodiment - the agent's physical setup, including its shape, materials,
sensors and actuators - is constitutive for any form of cognition and as a
consequence, models of cognition need to be embodied. In contrast to methods
from empirical sciences to study cognition, robots can be freely manipulated
and virtually all key variables of their embodiment and control programs can be
systematically varied. As such, they provide an extremely powerful tool of
investigation. We present a robotic bottom-up or developmental approach,
focusing on three stages: (a) low-level behaviors like walking and reflexes,
(b) learning regularities in sensorimotor spaces, and (c) human-like cognition.
We also show that robotic based research is not only a productive path to
deepening our understanding of cognition, but that robots can strongly benefit
from human-like cognition in order to become more autonomous, robust,
resilient, and safe.Comment: 22 pages, 3 figure
Setting Up the Beam for Human-Centered Service Tasks
We introduce the Beam, a collaborative autonomous mobile service robot, based
on SuitableTech's Beam telepresence system. We present a set of enhancements to
the telepresence system, including autonomy, human awareness, increased
computation and sensing capabilities, and integration with the popular Robot
Operating System (ROS) framework. Together, our improvements transform the Beam
into a low-cost platform for research on service robots. We examine the Beam on
target search and object delivery tasks and demonstrate that the robot achieves
a 100% success rate.Comment: 10 page
AltURI: a thin middleware for simulated robot vision applications
Fast software performance is often the focus when developing real-time vision-based control applications for robot simulators. In this paper we have developed a thin, high performance middleware for USARSim and other simulators designed for real-time vision-based control applications. It includes a fast image server providing images in OpenCV, Matlab or web formats and a simple command/sensor processor. The interface has been tested in USARSim with an Unmanned Aerial Vehicle using two control applications; landing using a reinforcement learning algorithm and altitude control using elementary motion detection. The middleware has been found to be fast enough to control the flying robot as well as very easy to set up and use
Robots as Powerful Allies for the Study of Embodied Cognition from the Bottom Up
A large body of compelling evidence has been accumulated demonstrating that embodiment – the agent’s physical setup, including its shape, materials, sensors and actuators – is constitutive for any form of cognition and as a consequence, models of cognition need to be embodied. In contrast to methods from empirical sciences to study cognition, robots can be freely manipulated and virtually all key variables of their embodiment and control programs can be systematically varied. As such, they provide an extremely powerful tool of investigation. We present a robotic bottom-up or developmental approach, focusing on three stages: (a) low-level behaviors like walking and reflexes, (b) learning regularities in sensorimotor spaces, and (c) human-like cognition. We also show that robotic based research is not only a productive path to deepening our understanding of cognition, but that robots can strongly benefit from human-like cognition in order to become more autonomous, robust, resilient, and safe
ToBI - Team of Bielefeld A Human-Robot Interaction System for RoboCup@Home 2018
Wachsmuth S, Lier F, Meyer zu Borgsen S. ToBI - Team of Bielefeld A Human-Robot Interaction System for RoboCup@Home 2018. Presented at the RoboCup 2018, Montreal, Canada.The Team of Bielefeld (ToBI) was founded in 2009. The RoboCup team’s activities are embedded in a long-term research agenda towards human-robot interaction with laypersons in regular and smart home environments. The RoboCup@Home competition is an important benchmark and milestone for this goal in terms of robot capabilities as well as the system integration effort. In order to achieve a robust and stable system performance, we apply a systematic approach for reproducible robotic experimentation including automated tests. A second focus of research is the development of reusable robot behaviors and robot skills. By re-usability we mean both, the re-use in different robot tasks as well as the reuse across different platforms. For RoboCup 2018, we plan to enhance this approach for the standard platform Pepper which comes with certain requirements and limitations, like its own runtime and development ecosystem, limited computing resources onboard, or a limited range of sensor devices. We further introduce a simulation environment for the Pepper robot that is based on MORSE and allows to define additional artificial agents as human-like interaction partners. This is one of the key features for simulating complete RoboCup@Home tasks. In this paper, we will present a generic approach to these issues. System descriptions as well as build and deployment procedures are modeled in the Cognitive Interaction Toolkit. The overall framework inherently supports the idea of open research and offers direct access to reusable components and reproducible systems via a web-based catalo
qiBullet, a Bullet-based simulator for the Pepper and NAO robots
The Pepper and NAO robots are widely used for in-store advertizing and
education, but also as robotic platforms for research purposes. Their presence
in the academic field is expressed through various publications, multiple
collaborative projects, and by being the standard platforms of two different
RoboCup leagues. Developing, gathering data and training humanoid robots can be
tedious: iteratively repeating specific tasks can present risks for the robots,
and some environments can be difficult to setup. Software tools allowing to
simulate complex environments and the dynamics of robots can thus alleviate
that problem, allowing to perform the aforementioned processes on virtual
models. One current drawback of the Pepper and NAO platforms is the lack of a
physically accurate simulation tool, allowing to test scenarios involving
repetitive movements and contacts with the environment on a virtual robot. In
this paper, we introduce the qiBullet simulation tool, using the Bullet physics
engine to provide such a solution for the Pepper and NAO robots.Comment: 4 pages, 5 figure
Robotics CTF (RCTF), a playground for robot hacking
Robots state of insecurity is onstage. There is an emerging concern about
major robot vulnerabilities and their adverse consequences. However, there is
still a considerable gap between robotics and cybersecurity domains. For the
purpose of filling that gap, the present technical report presents the Robotics
CTF (RCTF), an online playground to challenge robot security from any browser.
We describe the architecture of the RCTF and provide 9 scenarios where hackers
can challenge the security of different robotic setups. Our work empowers
security researchers to a) reproduce virtual robotic scenarios locally and b)
change the networking setup to mimic real robot targets. We advocate for hacker
powered security in robotics and contribute by open sourcing our scenarios
Target Reaching Behaviour for Unfreezing the Robot in a Semi-Static and Crowded Environment
Robot navigation in human semi-static and crowded environments can lead to
the freezing problem, where the robot can not move due to the presence of
humans standing on its path and no other path is available. Classical
approaches of robot navigation do not provide a solution for this problem. In
such situations, the robot could interact with the humans in order to clear its
path instead of considering them as unanimated obstacles. In this work, we
propose a robot behavior for a wheeled humanoid robot that complains with
social norms for clearing its path when the robot is frozen due to the presence
of humans. The behavior consists of two modules: 1) A detection module, which
make use of the Yolo v3 algorithm trained to detect human hands and human arms.
2) A gesture module, which make use of a policy trained in simulation using the
Proximal Policy Optimization algorithm. Orchestration of the two models is done
using the ROS framework
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