REU 2008

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Humanoid Exploration Assistive Care Planning with Robosapiens Presented By Aaron Jones & Jude Desti

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Overview Motivation Humanoid / Robosapien RS Media Software Issues/Object Manipulation Challenges Scenarios Video

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Motivation - 1 What are Humanoids ? Any being whose body resembles that of a human Ex. Arms, Feet, Hands, etc… Why Humanoid Robots ? The ability to have personality and behave as humans in an interactive environment autonomously. Asimo iCub QRIO Robosapiens http://en.wikipedia.org/wiki/Qrio , http://en.wikipedia.org/wiki/Asimo ,http://en.wikipedia.org/wiki/ICub

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Common Characterstics Humanoid Robots Sensors – devices that measures some quality of the world Within humanoids you can usually find mechanical /proprioceptor and exteroceptive sensors. Motivation - 2 Proprioceptor http://en.wikipedia.org/wiki/Humanoid_robot

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Common Characterstics Humanoid Robots Exteroceptive Motivation - 3 http://en.wikipedia.org/wiki/Humanoid_robot

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Actuators or Motors – devices which control the motions of the robot.Example: Servos which perform like muscles or joints. Motivation - 4 http://en.wikipedia.org/wiki/Humanoid_robot

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Motivation - 5 Planning and Control The aspect of dynamics and its behaviors Overall, the goal is to have a fully autonomous robot that interacts with the world around it, while providing safety to itself and humans. http://en.wikipedia.org/wiki/Humanoid_robot

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Robosapien RS Media We explore the potential use of Robosapiens in health and childcare environments to perform assistive tasks autonomously. Humanoids/R obosapien RS Media - 6 Actions Start Conditions Macros End Editing Suite http://www.wowweesupport.com/product_item.php?item=rsmedia

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Humanoids/R obosapien RS Media - 7 Environment Robosapien RS Media

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Netbeans Software Capabilities Allows the Robosapien to use its full potential with the Servos An interface is developed to select various task to be executed Software Issues/Object Manipulation Challenges - 8 http://en.wikipedia.org/wiki/Image:Netbeans_Slackware12.png

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Issues SD Card Mechanical Structure Batteries Midlets Application Failures/Crashing Software Issues/Object Manipulation Challenges - 9

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Scenarios Trash Can A Robosapien capable of throwing away trash or grabbing an object for someone and who is not able to do so. 1st: The Robosapien will first start up the tracking process and begin to search the room for Human. During this process, the Robosapien will turn off the LED (the red color on its eyes) until a Human is located. (NOTE: Humans are detected based upon torso and head shape and left-right symmetry. The Detection works best if target are fully in-frame, stationary, vertical or nearly vertical and with arms at the side)‏ Scenarios - 10

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2nd: Once the Robosapien locates a Human, the LED turns on (the red light turns on). The Robot will then start to walk towards the targeted Human and stop once the foot sensors on the robot are triggered. (The feet sensors are triggered once the sensors located in front of the foot are pressed, in this case, once the Robot bumps into something or someone)‏ Scenarios - 11

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3rd: The Robosapien will then reach out to the targeted Human and ask to assimilate an object. The Human will then place an object in the robots hands. (In this case, trash) Scenarios - 12

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4th: The Robosapien will then began the tracking process again searching for the Red Rectangular Trashcan. The eyes will again turn off until target is detected to indicate that target has been found. Scenarios - 13

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FINALLY: Once the target is detected, the Robosapien will then walk towards the target. The robot will stop once the foot sensor of the robot is triggered. It will then reach out its arm over the trashcan and release the object inside the trash can. Trash can located Scenarios - 14