Seznam |
Téma: | Humanoid robot autonomous body exploration |
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Vedoucí: | doc. Mgr. Matěj Hoffmann Ph.D., Ing. Zdeněk Straka Ph.D. |
Vypsáno jako: | Práce v týmu a její organizace |
Popis: | This project will be conducted on the Nao humanoid robot. The main idea is that the robot will explore its own body by self-observation and in particular self-touch.
The main tasks will be: 1. Get acquainted with the Nao robot simulator (Webots or Gazebo). 2. Study the robot kinematics and inverse kinematics and investigate controllers that would generate self-touch configurations. 3. Get acquainted with the real Nao robot. 4. Test safe self-touch behaviors on the real robot employing closed-loop control (relying on motor loads as feedback, for example). 5. Explore the possibilities of different sensory modalities in delivering information about the robot’s kinematic configuration: cameras, infra-red sensors, ultra-sonic sensors, joint encoders. 6. Optional: The robot will have an artificial skin array mounted on it. If this is delivered as planned, the students will be able to work with this new modality as well. |
Literatura: | Hoffmann, M.; Marques, H.; Hernandez Arieta, A.; Sumioka, H.; Lungarella, M. & Pfeifer, R. (2010), 'Body schema in robotics: a review', IEEE Trans. Auton. Mental Develop. 2 (4), 304-324. Roncone, A.; Hoffmann, M.; Pattacini, U. & Metta, G. (2014), Automatic kinematic chain calibration using artificial skin: self-touch in the iCub humanoid robot, in 'Robotics and Automation (ICRA), 2014 IEEE International Conference on', pp. 2305-2312. Video for illustration: https://youtu.be/pfse424t5mQ |
Realizace: | Code development (probably C++ or Python), Experiments on robot, Evaluation, Documentation |
Vypsáno dne: | 10.02.2017 |
Max. počet studentů: | 6 |
Přihlášení studenti: | František Puciow, Martin Jílek, Tomáš Pivoňka |