everything you always wanted to know about @home league, but … · 2019-09-16 · everything you...
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Everything you always wanted to know about @home league, but were afraid to ask Prof. Dr. Paul G. Plöger, (Team b-it-bots) Dirk Holz, Uni Bonn, (Team Nimbro) Sven Wachsmuth, Uni Bielefeld (Team Tobi)
Bonn-Rhein-Sieg University
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Prof. Dr.
Paul G. Plöger Computer
Science Bonn-Rhein-Sieg University oas
BRSU: University of Applied Science founded in 1995
capital moved from Bonn to Berlin 7500 students, 145 tenure prof, 466 staff
Key concepts: international relations family oriented excellence in (industrial) applications
BRSU projects: past: soccer playing robots (Middle Size League, internal) current: student team in service robotics (Robocup@home, internal) current: learning robots XPERO: EU funds,
BRICS: EU funds, GRRI: BMBF, German, Russian cooperation
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Prof. Dr.
Paul G. Plöger Computer
Science Bonn-Rhein-Sieg University oas
Service Robotics Q&A:
How did it all start? => My short history of b-it-bots + MAS projects.
How to make a robot aware? => Face and gesture recognition
What is this? => Perception, obj cat+free text
Pass it over! => Grasp, manipl.
How to do component cooperation? => Architecture
What cannot be done => The Limits of control
What do we aim for with all this?
What is Robocup@home all about?
Prof. Dr.
Paul G. Plöger Fachbereich
Informatik Hochschule
Bonn-Rhein-Sieg 4
IROS, 2012 San Francisco
B-it-bots roboter Jenny performing some common household tasks
ROBOCUP@home : a test bed for service robots => parts of the contest:
Manipulation and Object recognition���place-it, find-it, identify-it, grasp-it, comment-about
Navigation���(re)plan-path, open-door, comment-about
General Purpose Service Robot���navigate-to, (re)plan-path, listen-to, find-it, identify-it, grasp-it, talk-to, reason-about
Person recognition���find-person(s), identify-person, identify-pose
Speech Rec. and sound loc.���localize-sound, talk-to, reason-about
Open Challenge
Masters in Autonomous Systems
Bonn-Rhein-Sieg Uni. Appl.Science Paul G. Plöger
These unified tests allow BENCHMARKING of different behavior systems
All tests���are mere���Use cases !���
Masters in Autonomous Systems
Bonn-Rhein-Sieg Uni. Appl.Science Paul G. Plöger
Behaviour complexity:���sequence of nested/ hierachical FSMs
Use cases => necessary abilities of an autonomous Service Robot
• Speech i/o (“Yes, No! What ?!”)
• Object recognition and identification (“Which?”)
• Grasping of objects (“Get !”)
• Locomotion (“Go !”)
• Navigation ( “Where am I ?”)
• Person identification (“Who are you?”)
Masters in Autonomous Systems
Bonn-Rhein-Sieg Uni. Appl.Science Paul G. Plöger
} Choose and���Integrate !!!!
necessary abilities of an autonomous Service Robot, best in class….
• Speech => Loquendo (win)+Leopard (MacOS)
• Object recognition => RGB-D linemod (linux)
• Grasping of objects => KUKA Native lib (linux)
• Locomotion => Indiveri path follower (linux)
• Navigation => home grown MS thesis (Dirk Holz)(linux)
• Person identification => L1identity Sol. (win)
Masters in Autonomous Systems
Bonn-Rhein-Sieg Uni. Appl.Science Paul G. Plöger
RS232 USB2 TCP/IP 1394/400 analog
Goal: Middleware for a Cognitive System
Human Interface
Manipulation + Face Recognition Locomotion + Navigation
Sequencer + Speech Synthesis
Motor control Laser
Linux
Mac OS
MS Win
MS Win
Data + Control flow���when grasping
• Components offer high level commands == services
• Scheduler command “Grasp”
• All realtime aspects / and loops inside each component
• pan / tilt loop
• Point to point movements
• ICE middleware for integration
Adapted���SIFT
Color Blob���tracker
2D -> 3D���pose
KUKA native interface
Scheduler
Disparity
grasp ID
Different HW approaches Industrial man. Care-O-bot-3,���Payload: ���~10 Kg (!)
Ergonomy ���(2 sides/faces)
nice user-friendly design
Enabled for every day use
Reliability (KUKA components)
Final goal fault rob./ recovery
Selfmade => exact match of functionality Lightweight, omni wheels moving shoulder over a spine centralized CPU
Dynamaid, an Anthropomorphic Robot for Research on Domestic���Service Applications, Jörg Stückler, Sven Behnke ECMR’09, 2010
Bonn-Rhein-Sieg Uni. Appl.Science Benchmarking
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2080 1888
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2876 2850
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997 844
389
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2010 2011 2012 2013
@home Punkte: Entwicklung über die Jahre 2010-‐2013
STAGE1 max
STAGE1 mean
STAGE2 Max
STAGE2 Mean
Bonn-Rhein-Sieg Uni. Appl.Science Benchmarking
Dirk Holz, et.al: On RoboCup@Home - Past, Present and Future of a Scientic Competition for Service Robots���to be published
Research topics on robot abilities
Furniture recognition
Door detection
Event recognition
Detecting the opening of a door Thanks to Sven Wachsmuth, Uni Bielefeld
Thanks to Sven Wachsmuth, Uni Bielefeld
Emergency situation
Restaurant
Follow me
Cocktail Party
Basic Functionality Follow me
http://www.robocupathome.org/
Eindhoven, The Netherlands, 2013
@home league, RoboCup 2013, Eindhoven NEXT: RoboCup 2016, Leipzig, 30.6. - 4.7.2016 IFAC 9th Symposium Intelligent Autonomous Vehicles, iav2016.inf.h-brs.de
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Prof. Dr.
Paul G. Plöger Computer
Science Bonn-Rhein-Sieg University oas
Résumé Service robotics is catching up to the expectations as implemented in
us by Hollywood as long as movie making industries is taking more advantage of the
HW enhancements then A.I. we will lag behind .. in dedicated niches (3D sensing, environment modeling, scene
understanding, motion control) there is some big momentum though…
… and BTW: true autonomy is still unwanted….
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Prof. Dr.
Paul G. Plöger Computer
Science Bonn-Rhein-Sieg University oas
http://www.b-it-bots.de http://www.iais.fraunhofer.de
http://www.inf.h-bonn-rhein-sieg.de
The Golem: How He Came Into the World, Paul Wegener,1920 Terminator II-Judgement Day, James Cameron, 1991 2001: A Space Odyssey, Stanley Kubrick, 1968 Blade Runner, Ridley Scott, 1982 Metropolis, Fritz Lang, 1927 The Bicentennial Man, Chris Columbus (based on Asimov), 2000
Journal of Intelligent & Robotic Systems Johnny: An Autonomous Service Robot for Domestic Environments Thomas Breuer, Geovanny R. Giorgana Macedo, Ronny Hartanto, Nico Hochgeschwender, Dirk Holz, Frederik Hegger, Zha Jin, Christian Müller, Jan Paulus und Michael Reckhaus, et al. http://www.springerlink.com/content/78311w5vn73p6741/
Answers to films / web links
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Prof. Dr.
Paul G. Plöger Computer
Science Bonn-Rhein-Sieg University oas 19