Configuration of skilled tasks for execution in multipurpose and collaborative service robots

Several highly versatile mobile robots have been introduced during the last ten years. Some of these robots are working among people in exhibitions and other public places, such as museums and shopping centers. Unlike industrial robots, which are typically found only in manufacturing environments, service robots can be found in a variety of places, ranging from homes to offices, and from hospitals to restaurants. Developing mobile robots working co-operatively with humans raises not only interaction problems but problems in getting tasks accomplished. In an unstructured and dynamic environment this is not readily achievable because of the high degree of complexity of perception and motion of the robots. Such tasks require high-level perception and locomotion systems, not to mention control systems for all levels of task control. The lowest levels are controlling the motors and sensors of the robots and the highest are sophisticated task planners for complex and useful tasks. Human-friendly communication can be seen as an important factor in getting robots into our homes. In this work a new task configuration concept is proposed for multipurpose service robots. The concept gives guidelines for a software architecture and task managing system. Task configuration process presents a new method which makes it easier to configure a new task for a robot. The idea is the same as when a person tells another how a task should be performed. Novel method for executing tasks with service robots is also presented. Interpretive execution, keeping the focus on only one micro task at a time, makes it possible to modify plans during their execution. Multimodal interaction is important feature to provide collaboration between humans and robots. Multimodal interaction reduces the workload of the user by administering task configuration and execution. A novel solution for using multimodal human-robot interaction (HRI) as a part of the task description is presented. This thesis is a case study reporting the results when developing a task managing (from configuring to execution) platform for multipurpose service robots and studying its performance and use with several test cases. The platform that was developed has been implemented with the WorkPartner multipurpose service robot. The structure and operation of the platform have proved to be useful and several tasks have been carried out successfully

Humanoid Robot handling Hand-Signs Recognition

Recent advancements in human-robot interaction have led to tremendous improvement for humanoid robots but still lacks social acceptance among people. Though verbal communication is the primary means of human-robot interaction, non-verbal communication that is proven to be an integral part of the human interactions is not widely used in humanoid robots. This thesis aims to achieve human-robot interaction via non-verbal communication, especially using hand-signs. It presents a prototype system that simulates hand-signs recognition in the NAO humanoid robot, and further an online questionnaire is used to examine people's opinion on the use of non-verbal communication to interact with a humanoid robot. The positive results derived from the study indicates people's willingness to use non-verbal communication as a means to communicate with humanoid robots, thus encouraging robot designers to use non-verbal communications for enhancing human-robot interaction

The robot in the kitchen: The cultural politics of care-work and the development of in-home assistive technology

This paper considers two trends at opposite ends of the new economy: low-paid in-home care work, and the development of high-tech “social” robots. At present, the work of caring for the elderly, disabled, and convalescents is done primarily by women (disproportionately women of color) in the space of the home (Pratt, 1999). Meanwhile, in robotics labs at elite research universities and industry think-tanks in the U.S., Europe, and Japan, prototypes are being developed to take over some of this labor. Considered together, these two phenomena raise a number of questions, including: how might ideas about gender and race shape the development of assistive technologies; what does development in this field mean for understandings about technology’s “place” in our lives; and, potentially, even for those who rely on carework for their livelihood? The space of the home carries great cultural and symbolic significance (England, 2000). Allowing robots into this space to help us with our most private tasks would mark an unprecedented level of intimacy in our relationship with technology. While a “nursebot” may be able to measure vital signs, how would the replacement of a human care-giver with an assistive technology alter the relationship between the person being cared-for and the world outside? Drawing on disciplinary frames of Cultural Geography and Science and Technology Studies, this paper explores the social politics, and possible futures, of in-home assistive technology

Robots, Industry 4.0 and humans, or why assembly work is more than routine work

This article condenses the key findings of qualitative studies on assembly work. Grounded conceptually in considerations of the role of experiential knowledge and living labor capacity with regard to informal expertise and tacit knowledge, the empirical results challenge the dominant view of assembly work as routine tasks that could easily be replaced by robotics. The empirical basis comprised of 62 qualitative interviews in five assembly plants provides answers to two questions: Are there non-routine aspects to be found in assembly work today? What exactly is the nature of experience in assembly work? The detailed research results are presented in three steps: the first focuses on the role of the non-routine in core assembly tasks; the second discusses the important and increasing role played by interactive capabilities in assembly work to ensure high performance, quality, and a smooth material flow; and the third highlights the usually neglected role of assembly workers in processes of innovation and organizational learning. The concluding chapter discusses the findings from the perspective of new technological options in robotics, possible worker resistance and effects on employment

Robotic Follow-Up for Human Exploration

We are studying how "robotic follow-up" can improve future planetary exploration. Robotic follow-up, which we define as augmenting human field work with subsequent robot activity, is a field exploration technique designed to increase human productivity and science return. To better understand the benefits, requirements, limitations and risks associated with this technique, we are conducting analog field tests with human and robot teams at the Haughton Crater impact structure on Devon Island, Canada. In this paper, we discuss the motivation for robotic follow-up, describe the scientific context and system design for our work, and present results and lessons learned from field testing

A cognitive robotic ecology approach to self-configuring and evolving AAL systems

Robotic ecologies are systems made out of several robotic devices, including mobile robots, wireless sensors and effectors embedded in everyday environments, where they cooperate to achieve complex tasks. This paper demonstrates how endowing robotic ecologies with information processing algorithms such as perception, learning, planning, and novelty detection can make these systems able to deliver modular, flexible, manageable and dependable Ambient Assisted Living (AAL) solutions. Specifically, we show how the integrated and self-organising cognitive solutions implemented within the EU project RUBICON (Robotic UBIquitous Cognitive Network) can reduce the need of costly pre-programming and maintenance of robotic ecologies. We illustrate how these solutions can be harnessed to (i) deliver a range of assistive services by coordinating the sensing & acting capabilities of heterogeneous devices, (ii) adapt and tune the overall behaviour of the ecology to the preferences and behaviour of its inhabitants, and also (iii) deal with novel events, due to the occurrence of new user's activities and changing user's habits