Ken Goldberg IEOR and EECS, UC Berkeley From Ouija to Tele-Actor: Collaborative Telepresence via the Internet.

Ken Goldberg

IEOR and EECS, UC Berkeley

From Ouija to Tele-Actor:Collaborative Telepresence

via the Internet

Outline

• History of Telerobotics

• 4 projects

• Collaboration models

• Ouija 2000

• Robust Model

• TeleAction

Telerobotics: Related Work

• Goertz, ‘54

• Mosher, ‘64

• Tomovic, ‘69

• Salisbury,Bejczy, ‘85

• Ballard, ‘86

• Sheridan, ‘92

• Sato, ‘94

• Presence Journal ‘92-

• O. Khatib, et al. ’96

A:

B:

Federal Law, Title 18, Section 333: Whoever mutilates, cuts, defaces ... or does any other thing to any bank bill ...shall be fined or imprisoned.

Do you, [email protected], understand and wish to proceed?

yes no

IROBOT-LE:

Survivor

Jason: undersea telerobot

… …

……

Collaborative

Control methods:

MultiTask

Batch

?

Ouija 2000: Hardware

• Two PC servers: one running Win98, one running Linux

• Adept 604-S Robot arm

• Panasonic CCD camera

O2K: System Architecture

Client

Internet

Webserver Video Card Robot Control Webserver C

CCD Camera Robot

Applet V Applet C

Planchette Motion Model

Inertiaviscous drag

User Experiments

Views with Noise:

Performance Tests

Time to complete maze (sec):

Subject Trial 1 Trial 2 Trial 3A 146 139 105B 177 141 175

A,B 65 71 72

When does collaboration improve performance?

Consider n noisy inputs, xi, with common mean and std dev = .

As the number of inputs increases, the noise in the average, x*, decreases with the square root of n:

(central limit theorem)

* =n

Online traffic

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Nov 2000: Over 15,000 Registered

http://ouija.berkeley.edu

A Robust Model of Collaborative Control

(with Billy Chen)

Genghis ’86: Brooks et al

Classical Control Architecture

Brooks’ SubsumptionArchitecture

“Collaborative Control” Architecture

R. and L. Carpenter “Cinematrix” (1992)

x

(x,y)

Audience (2 groups):

Cursor on Shared Screen:

y

A model of cinematrix

Cinematrix Simulator:

Cinematrix Control Model

Audience agent (FA)

Incremental cursor update

x = [x + fx(x), y + fy(x)]T+

Where:

x = [x, y]T

f : Q(x, y) x sgn(g(x, y)) {0, +1, -1}

g(x, y) = x2 + y2 - r2

Performance Metric

E = |local error| / total reference areaPerformance = 1 - E

Non-Ideal Agents :

• Drop out• Malicious • Frozen• Random• Time delayed

% non-ideal agents50% 100%0%

Performance

0%

63%

100%

Non-Ideal Agents :

• Drop out• Malicious • Frozen• Random• Time delayed

TeleAction:

Tele-Directors

Environment

(joint with E. Paulos, B. Chen, J. Donath and the MIT sociable media group)

Tele-Actor

summary• History of Telerobotics

• 4 projects

• Collaboration models

• Ouija 2000

• Robust Model

• TeleAction

www.ieor.berkeley.edu/[email protected]

[email protected]

www.ieor.berkeley.edu/~goldberg

www.ken.goldberg.net

- Data Dentata

- Mercury Project

- Telegarden

- Invisible

Cantilever

- Dislocation

of Intimacy

- Legal Tender

- Mori

- Ouija 2000

- Tele-Actor

“Sensor Fusion” Architecture