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| lirec_notes [2009-01-06 14:47] – created davegriffiths | lirec_notes [2009-09-13 21:49] – toulouse lasergame evolution.com http://agnesanon88.angelfire.com/info-tourisme-oyonnax.com.html info tourisme oyonnax.comtoulouse axima contracting.fr http://agnesanon88.angelfire.com/information-anglet-tourisme.com.html information anglet tourisme.comwww. tourisme.fr http://agnesanon88.angelfire.com/0310054r-ac-toulouse.fr.html 0310054r ac toulouse.frtoulouse groupesabatier.com http://agnesanon88.angelfire.com/toulouse-septime.fr.html toulouse septime.frbrive.cged sonepar.fr http://agnesanon88.angelfire.com/caussade.tourisme-wanadoo.fr.html caussade.tourisme wanadoo.frwww.toulouse.com http://agnesanon88.angelfire.com/contact-reiki-toulouse.com.html contact reiki toulouse.comtourisme gavray.net http://agnesanon88.angelfire.com/office-tourisme-mehun-wanadoo.fr.html office tourisme mehun wanadoo.frdeleg brive eau adour garonne.fr http://agnesanon88.angelfire.com/info-tourisme-sciez.com.html info tourisme sciez.comtourisme.valencedagen wanadoo.fr http://agnesanon88.angelfire.com/toulouse.sa.direction-wanadoo.fr.html toulouse.sa.direction wanadoo.frcontact.toulouse passparcours.fr http://agnesanon88.angelfire.com/toulouse-menway-international.com.html toulouse menway international.com 81.199.85.106 | ||
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| - | LIving with Robots and InteractivE Companions | + | toulouse lasergame evolution.com http:// |
| - | + | ||
| - | ===Scenarios=== | + | |
| - | + | ||
| - | =Heriot Watt= | + | |
| - | Spirit of the building: | + | |
| - | 1. Team buddy, mobile robot, collective memory for a lab team | + | |
| - | 2. Personal guide - for navigating around a university campus, remember appointments etc | + | |
| - | 3. In the wild - a gossip/chat robot - appears on a large screen in social area | + | |
| - | + | ||
| - | =INESC-ID= | + | |
| - | 1. Game companion for young children | + | |
| - | 2. Personal trainer (migrate to mobile robot for jogging exercises etc) | + | |
| - | 3. Welcome to the jungle - talk to game characters through a robot, robot can alternate | + | |
| - | between real and game world | + | |
| - | + | ||
| - | =University of Hertfordshire= | + | |
| - | 1. Fetch and carry, help with physical impairment or convenience | + | |
| - | 2. Cognitive prosthetic - memory aid for tasks etc | + | |
| - | 3. Telepresence card player - robot mediates play | + | |
| - | 4. Teaching Proxemic preferences | + | |
| - | 5. Travelling companion | + | |
| - | + | ||
| - | ===Architecture=== | + | |
| - | + | ||
| - | Has to: | + | |
| - | 1. Run on very different platforms | + | |
| - | 2. Reuse code across these platforms | + | |
| - | 3. Support migration at runtime between platforms | + | |
| - | + | ||
| - | Platforms can consist of 4 main types, mobile robot, fixed robot, handheld device or fixed graphical system. Each has it's inherent restrictions. | + | |
| - | + | ||
| - | =Existing robot architectures= | + | |
| - | In the whole, there is a lack of sharing of this kind of technology. This is partly because generalising is hard in this field, considering all types of robots possible. However, Lirec has to generalise as it's using a wide variety of architectures. | + | |
| - | + | ||
| - | NASREM/NIST RCS - NASA + ESA use a generic system with their subcontractors. | + | |
| - | + | ||
| - | =Methodology= | + | |
| - | In the past there have been 2 broad approaches to robot design: | + | |
| - | * Heirarchical, | + | |
| - | * Behavioural approach = less state, local decisions, liable to local minima, opaque to program | + | |
| - | This can be summed up as predictive vs reactive. | + | |
| - | + | ||
| - | Current thinking is to use a hybrid approach, example BIRON. Where the predictive constrains the reactive to combine local decisions with a world model. | + | |
| - | + | ||
| - | The architecture will consist of 3 layers of abstraction: | + | |
| - | Level 1 - device layer, architecture dependant | + | |
| - | Level 2 - architecture dependant | + | |
| - | Level 3 - ION, device independant | + | |
| - | + | ||
| - | Level 2 will provide a reference architecture with modular capabilities called competencies. Not all competencies will make sense for all architectures, | + | |
| - | + | ||
| - | Example competencies: | + | |
| - | * Face finding | + | |
| - | * Expression recognition | + | |
| - | * Text to speech | + | |
| - | * Obstacle avoidance | + | |
| - | + | ||
| - | + | ||
| - | + | ||
| - | YARP | + | |
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