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Home Exploring Robotic Butler PowerPoint Presentation

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Slide 1 - Intel & Carnegie Mellon University Presented by Tim Haines HERB 1.0 : Home Exploring Robotic Butler
Slide 2 - Ideal Uses for Assistive Agent Assist elderly or disabled Doing jobs currently done by service animals Cleaning Washing Dishes Laundry Ironing Moving heavy objects
Slide 3 - Challenges to Operate in a Human Environment Efficient navigation and mapping Robust object recognition and pose estimating Sophisticated trajectory planning All done in unstructured constantly changing environment
Slide 4 - The First Solution!!!
Slide 5 - Principles of System Architecture Unlimited computational power is available This is achieve by using on board and off board computing Sensing and planning algorithms should require minimal human input Allows for the robot to adapt to new environments
Slide 6 - ppt slide no 6 content not found
Slide 7 - ppt slide no 7 content not found
Slide 8 - Object recognition using sift Flea- Locating objects Narrow View, Large depth of field Dragonfly-Manipulate objects Wide View, small depth of field
Slide 9 - Checkerboard Localization Found to be better than using the laser Down side Slow, taking 10 to 30 sec Needs at least 3 checkerboards in 1 image Tried children's drawings, Failed
Slide 10 - Navigating using GATMO Generalized Approach to Tracking Movable Objects Two part maps Static Lists of objects
Slide 11 - Classification
Slide 12 - Vision
Slide 13 - Planning Opening doors Planning based on Kinematics, no physics Often Herbs fingers would jam into the door causing a stall
Slide 14 - Planning Manipulating objects WGR-Workspace Goal Regions Videos: http://www.youtube.com/watch?v=NsTdFF19fQQ http://www.youtube.com/watch?v=PEg9ay-Wy-M&feature=related
 

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