Human Robot Interaction

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Diana Briggs
5 years ago
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1 Human Robot Interaction Taxonomy 1

2 Source Material About This Class Classifying Human-Robot Interaction an Updated Taxonomy Topics What is this taxonomy thing? Some ways of looking at Human-Robot relationships. Available on the course web site. A good paper. 2

3 What is a taxonomy? A systematic classification of concepts The organization of a particular set of information for a particular purpose. The term comes from biology single location for a species within a complex hierarchy For more than you want to know about organizing concepts see: 3

4 Numeric Relationships 4

5 One Human, One Robot One Human controls one robot Example: WAX wax.scs.ryerson.ca 5

6 One Human, Robot Team One human gives commands that are interpreted and actions coordinated by a robot team without intervention. Lots of people working in simulation anyone see real robots working this way, let Alex know. 6

7 One Human, Multiple Robots One human issues individual commands to multiple individual robots each operating independently. Rutgers University Research A project lead by Bill Craelius and Sam Phillips is working on an artificial hand designed to give amputees individual control over at least three fingers by using their original nerve pathways. The prototype allows so much control that one amputee has been able to play a keyboard with it. (2,4) The prosthetic uses electrical impulses in the arm from "phantom limb" movement, called residual kinetic imaging (3). The user's original motor pathways are used to control robotic replacement parts without relearning how to move their hands. See also, E. Woo, B.A. MacDonald, and F. Trepanier Mobile Robot Application Infrastructure, IROS 03 7

8 Human-Team One robot Humans agree on robot command and issue it. Remote Manipulator System on ISS and Shuttle -- CanadArm Remote Manipulator System (RMS) Two large robot arms and associated equipment, one of which is attached to the Space Shuttle Orbiter for payload deployment and retrieval, the other to the International Space Station (ISS). The RMSs were designed, developed, tested and built by the Canadian company Spar Aerospace, with some components from other Canadian firms, and so are also known as Canadarm (Shuttle version) and Canardarm 2 (ISS version). The Shuttle s RMS is 15.3 m long, 38 cm in diameter, and weighs 408 kg. It has six joints that correspond roughly to the joints of the human arm, with shoulder yaw and pitch joints, an elbow pitch joint, and wrist pitch, yaw, and roll joints. The end effector is the unit at the end of the wrist that actually grabs, or grapples, the payload. Two lightweight boom segments, called the upper and lower arms, connects the shoulder and elbow joints, and the elbow and wrist joints, respectively. The Shuttle RMS can handle payloads with masses up to 29,500. One flight crew member operates the RMS from the aft flight deck control station, and a second flight crew member usually assists with television camera operations. 8

9 Multiple Humans, One Robot Multiple humans issue commands to a single robot. Robot must de-conflict and prioritize. We have a hard time with this as humans. Round-robin-timer: max.scs.ryerson.ca Shared Control: NEPWAK. 9

10 Human Team, Robot Team Team of humans issues commands to a team of robots who determine which robot does what to fulfill the command. 6. ISePorto Team Project ISePorto Team is part of a LSA-ISEP robotic football initiative and is designed for participation in Robocup Middle Size League (F2000).The objectives behind the team formation are twofold: to provide an adequate testbed and case study for research in the areas of interest of the ISEP's Autonomous Systems Lab (LSA), and the development of a relevant application with educational purposes. The robotic football team provides an excellent tool to develop and demonstrate the research in the areas of interest associated with autonomous systems. These are mainly sensor fusion, mobile robotics navigation, nonlinear hybrid feedback control and coordination. 10

11 Human Team, Multiple Robots A human team issues one command to each individual robot

12 Multiple Humans, Robot Team Multiple humans issue different commands to a team of robots who must de-conflict, prioritize and divide the task amongst themselves. Harder problem still

13 Spatial Relationships Homunculus: A very small humanoid creature : The m agic inside the box. Microsoft Paperclip ( The ogre under the bridge is a better metaphor in this case) 13

14 Authority Relationships 14

Robot Morphology The form and structure of a robot is important because it helps to establish social expectation.

ASIMO was conceived to function in an actual human living environment in the near future.

Zoomorphic AIBO is one of several types of robotic dogs designed and manufactured by Sony; there have been several different models since their introduction in 1999.

stimuli from their owner or environment, or from other AIBOs. Artistic The Helpless Robot (Norm White 1987-96).

15 Robot Morphology The form and structure of a robot is important because it helps to establish social expectation. Anthropomorphic - human-like appearance Zoomorphic - animal-like appearance Original or Artistic - Form unrelated to function Functional - Form closely related to function Anthropomorphic ASIMO was conceived to function in an actual human living environment in the near future. It is easy to operate, has a convenient size and weight and can move freely within the human living environment, all w ith a people-friendly design. Zoomorphic AIBO is one of several types of robotic dogs designed and manufactured by Sony; there have been several different models since their introduction in Able to walk, "see" its environment via camera, and recognize spoken commands, they are considered to be autonomous robots, since they are able to learn and mature based on external stimuli from their owner or environment, or from other AIBOs. Artistic The Helpless Robot (Norm White ). Another interactive work, except that this one has no motors, but instead must depend upon its synthesized voice to encourage people to move it as it would "like". I built it primarily as an apparatus to test out different techniques of automatic knowledge-building; in this case, the machine attempts to assess and predict human behavior. Like Facing Out Laying Low, it is essentially an unfinishable work. Materials: plywood, angle-iron, proximity sensors, modified computer, and custom electronics 15

16 How close is/are the robot(s) to the human(s)? Distant Avoiding Passing Following Approaching Touching Proximity 16

VOICE CONTROL BASED PROSTHETIC HUMAN ARM

VOICE CONTROL BASED PROSTHETIC HUMAN ARM Ujwal R 1, Rakshith Narun 2, Harshell Surana 3, Naga Surya S 4, Ch Preetham Dheeraj 5 1.2.3.4.5. Student, Department of Electronics and Communication Engineering,