SAM: a robotic butler for handicapped people

CONTENTS
INTRODUCTION

OVERALL ARCHITECTURE STEREO VISION BASED OBJECT TRACKING SCENARIO INTERPRETOR EXPERIMENTAL RESULTS PROS CONS CONCLUSION FUTURE SCOPE

REFERENCES

INTRODUCTION
Four main robotic system types: Workstation systems Stand alone manipulators Wheelchair mounted system Mobile platforms Original grasping procedure
A priori knowledge of the object is not required

OVERALL ARCHITECTURE
System composed of two elements: Client Mobile robot --> mobile platform + robotic arm Communication uses the Wi-Fi network and relies on a web service layer

A. Mobile platform
MP-M470 designed by Neobotix Mobile guidance is realized by an embedded PC

Contd
Laser scanners - 2D raster image Mobile pose is estimated

Path planning method is based on A* algorithm

B. Manipulator arm
MANUS - grasping and manipulating objects - controlled with a PC through a CAN bus

Sensors - a stereo rig, an optical barrier, two load cells

Contd
C. Communication layer
Both arm and mobile platform are seen as servers

Totally hide the internal complexity

Protocol used to implement web service is DPWS

STEREO VISION BASED OBJECT TRACKING

A. Tracker initialization
Estimate a set of 3D points describing the object Define a surrounding box 3D points are expressed in the right camera frame
Cr Cr Cr

Mo(0) =

RO
0

tO
1

B. 3D object tracking
Estimate position of object at each instant Realized by Virtual visual servoing

C. Arm motion control

Deduce the motion of robotic arm Centroid of surrounding box is estimated Arm get closer to the object

SCENARIO INTERPRETOR
A. Generalities
Organize a set of scenarios Scenario corresponds to a task Defined with an XML language Three main tasks: -GoToTask -GraspObjectTask -DropObjectTask

B.

Object grasping scenario

EXPERIMENTAL RESULTS

PROS
Disabled person get more independence
No priori information of the object is needed Web service hide the internal complexity Object grasping is automatic

CONS
Expensive Gripper can load objects up to 1.2kg Spread between two fingers is 9cm

CONCLUSION
Able to grasp any object
No priori information of the object is needed Scenario interpretor to schedule actions Comms uses a recent protocol, web services

FUTURE SCOPE
Color-based tracking for non textured objects Addition of object retrieval module Dynamical interpretation of scenarios

REFERENCES
Robot and Human Interactive Communication, 2008. RO-MAN 2008. The 17th IEEE International Symposium http://www.neobotix.de http://www.exactdynamics.nl en.wikipedia.org/wiki/Devices_Profile_for_Web _Services