Huosheng Hu School of Computer Science & Electronic Engineering University of Essex, Colchester CO4 3SQ, U.K. Email: hhu@essex.ac.uk Mike Brady Research.
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Huosheng Hu
School of Computer Science & Electronic Engineering University of Essex, Colchester CO4 3SQ, U.K.
Email: hhu@essex.ac.uk
Mike Brady Research Symposium
From Oxford AGVs to Human-Centred Robotics
Introduction
16 September 2010Prof. H. Hu, School of CSEE, University of Essex, U.K.2
1950s
1980s
2000s
4th stageHuman-centredenvironments
3rd stageUnstructuredenvironments
2nd stageStructuredenvironments
Human’s dream of replicating themselves Industrial
RobotsField Robots
1920s
Service Robots
Oxford AGV Project
1st stageImaginary world
Oxford AGV Project (1988-1997)Tracked vehicle Robuter Turtle LICAR1OxNav
Key issues: • Multi-sensor integration• Sensor-based control• Autonomous navigation & mapping• Toward unstructured environments 16 September 20103 Prof. H. Hu, School of CSEE, University of Essex, U.K.
Funded by EPSRC
• GR/E42416 - £230K (1988-91)
• GR/G37361- £270K (1991-94)
• GR/K39844 - £350K (1994-97)
• plus other grants (Hugh & Penny)
Video
To operate in human-centred environments that are not structured in any way for robots.
16 September 2010Prof. H. Hu, School of CSEE, University of Essex, U.K.4
Human-Centred Robotics
To communicate intelligently with human users to know their needs.
To be adaptive, compliant, fail safe.
To be easily used by general public who have no knowledge on robots & programming (elderly & disabled).
Honda Asimo, 2001Robotics is the intelligent connection
of perception to action (M. Brady)
Intelligent Appliance
Intelligent Home/Office/Building
IntelligentTransportation
SystemIntelligent Health
Care SystemIntelligent Personal Assistant
Internet & Wireless
Security Robots Service Robots
16 September 2010Prof. H. Hu, School of CSEE, University of Essex, U.K.5
Typical Applications
Industrial Robots in MedicalROBODOC (1992, IBM), based on an IBM scara robot for
hip and knee surgeries.
• Rehabilitation Robot
16 September 20106 Prof. H. Hu, School of CSEE, University of Essex, U.K.
Da Vinci Surgical Robot video
Encoders & Force sensors
Dextrous Hand for Service Robots
16 September 2010Prof. H. Hu, School of CSEE, University of Essex, U.K.7
A high-speed robot hand (Komuro’s Lab at Univ. of Tokyo) performs impressive acts of dexterity & skillful manipulation (2009).
EU-FP7-DEXMART-2009
Shadow C6M Dextrous Hand(20 motors)
IIT Dextrous Hand for the iCub robot(22 DOFs, extremely compact, & light 0.5Kg)
Field Robots for Military
16 September 2010Prof. H. Hu, School of CSEE, University of Essex, U.K.8
Two robots made by Boston Dynamics
BigDog robot
RHex robot
Robotic Fish built at Essex
16 September 2010Prof. H. Hu, School of CSEE, University of Essex, U.K.9
G8 – Robotic Fish
G5 – Robotic fishG4 – Robotic fish G6 – Robotic fish
G9 – Robotic fish G14 – Robotic fish
Funded by London Aquarium
EU FP7 ICT Project – SHOAL
16 September 2010
Prof. H. Hu, School of CSEE, University of Essex, U.K.
10
Robotic Fish Mechanics
Artificial Intelligence Component
Fluid Dynamics
Control
Comms Component
Triangulation Devices
Chemical Analysis
Component
Testing at De Gijon Port, Spain
Comm
Tail motor
Battery Unit
Water chamberWater
chamber
CPU
Sensors
Tail fin
Water sinkable tail
Aerial float ball
Pectoral fin module
External sensor (pressure,
pollution, etc)
Internal sensors (inertial, gyro, etc) Communication
(GPS, radio, etc)
Referred from NMRI, JapanSensor networks
A shoal of robotic fish will function in collaboration, monitor pollution in a port, and map pollution levels & its position.
Robotic Swarm for Environmental Monitoring
19 April 2023Prof. H. Hu, School of CSEE, University of Essex, U.K.
Video
11
For optimal coverage of an environmental variable for pollution monitoring.
Control of real and simulated agents using a combination of bacteria controller and flocking controller.
Architecture and system design for the System.
16 September 2010Prof. H. Hu, School of CSEE, University of Essex, U.K.12
Head gesture based control
Voice based control
Hands-free Control of Wheelchair
EMG based control of a wheelchair at Essex
16 September 2010Prof. H. Hu, School of CSEE, University of Essex, U.K.13
• CyberLink - small wearable headband with 3 bio-sensors.
EMG – band pass 70- 1000Hz. eyebrow tension
EOG – band pass 0.2-3Hz.
Video 1
Funded by The Royal Society & Royal Academy of Engineering
Video 2
16 September 2010Prof. H. Hu, School of CSEE, University of Essex, U.K.14
Brain Actuated Control
Biosemi,Netherlands
A/D Conversion& amplifier
FeatureExtraction
TranslationAlgorithm
DeviceCommands
www.biosemi.com
FeatureSelection
AlgorithmSelection
Communication Control
• 16-CH A/D• Amplifiers• Headcap-64• Electrodes
Video
Funded by EPSRC; Partner: Oxford University (Steve Roberts)
Multi-sensor Perception
16 September 2010Prof. H. Hu, School of CSEE, University of Essex, U.K.
15
People are tracked using a multi-sensor solution, i.e.
the camera for face detection
The SICK laser scanner for legs detection
Three recognition modalities are integrated
height
clothes
face recognition
People tracking with service robots
Bank of Filters for Joint People Tracking & Identification
16 September 2010Prof. H. Hu, School of CSEE, University of Essex, U.K.16
Experiment 1- Tracking 1 Person
16 September 2010Prof. H. Hu, School of CSEE, University of Essex, U.K.17
16 September 2010Prof. H. Hu, School of CSEE, University of Essex, U.K.18
Multiple Targets
Data association problem
data association
Different
persons
Different
readings State
estimation
person A
State
estimation
person B
A B
face / legs
of A
face / legs
of B
Experiment 2 – Tracking 3 people
16 September 2010Prof. H. Hu, School of CSEE, University of Essex, U.K.19
Lux for University Open Day
Conclusion
16 September 2010Prof. H. Hu, School of CSEE, University of Essex, U.K.20
Opportunity: Robot in every home - a personal robot era is coming. Like PC & Mobile phone, we will enjoy these new robots (wearable, portable, implantable, pervasive).
Future Challenges
16 September 2010Prof. H. Hu, School of CSEE, University of Essex, U.K.21
Multi-modality human-machine interaction
How to effectively conquer home environments.
Memory & Machine Consciousness
Incremental Learning for life-long adaptation
Interdisciplinary: psychology, medical, neuroscience, sociology, ethics, etc.
Thanks to Mike who led me into the robotics research at Oxford, which was exciting & enjoyable.
16 September 2010Prof. H. Hu, School of CSEE, University of Essex, U.K.22
Please see my homepage for more informationhttp://csee.essex.ac.uk/staff/hhu
Q & A
Thanks to my colleagues and students at Essex who made contributions to this talk.
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