Robots and Humans - Oussama Khatib

Robots and Humans Oussama Khatib Artificial Intelligence Laboratory Department of Computer Science Stanford University

JediBota studentproject!

student*artLong-exposureLed-lightPhotography

Service & Assistance

Haptic Interaction

Robotically Aided Surgery

..in remote environments • remote exploration • instinctive control • pre operation planning • assisted navigation

1..in human interaction • digital actors • virtual worlds • synthetic movies • simulated environments • social interaction

.. in the human environment

Safety

s2 : Stanford Human-Safe Robot

s2 : Stanford Human-Safe RobotImpact-reducingproximity andpressure sensingSkin using SDM

.. not only walk, but also interact with the world! a unified mobility & manipulation framework!

Sensing and PerceptionMultiple Sensing Modalities Combining visual, range, force, and tactile sensing feedback.Probabilistic framework for global state estimation

The ChallengeSensing and Perception real-time, unstructured worldPlanning, Control, Skillsmany degrees of freedommobility and manipulationhuman-like skills, learningHuman-Robot Interactioncognitive and physicalMechanisms and Actuationsafety & performanceInteractivity & Human-Friendly

Mobile ManipulationHuman Guided Motion & Human-Robot Interaction Romeo & Juliet (1993-96)

DancingwithJulietStanford,1996

Advanced Manipulation CapabilitiesCompliant Manipulation Primitives

Multi-contactManipulation

Human Movement

understandinghuman motion

Simulation 79 DOF and 136 Muscles Biometric Data & Bone Geometry (Scott Delp)Dynamic simulation Motion capture

Data from Subjects

Human Motion CharacteristicsHumans grow to learn theefficiency of the body’sphysio-mechanical advantageIn learned tasks, humansminimize muscular effort,under physical and “social”constraints

the fluidity of movement

SAI Neuromuscular Library

HumanMotionAtlas

Collision Detection

Collision Resolution

SAI 2.0

haptics.. simulating the sense of touch

Skill Learningbi-manual haptic interface

Unified Whole Body Control Framework Task, Posture, Constraints, Multiple Contacts, and Balance

Unified Frameworkpostureconsistent with { task consistent with { contact consistent with { internal constraints self collision local obstacles consistent with { interact with the world, balance cooperate, and manipulate } }} }

Constraint-Consistent Task-Space c| s f |c| s m| f |c| s p|m| f |c| s interact with the world, cooperate, and manipulate

Unified Whole Body Control Framework Task, Posture, Constraints, Multiple Contacts, and Balance

Thank You!

Robots and Humans - Oussama Khatib

by swissnex San Francisco on May 29, 2012

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Robots and Humans - Oussama Khatib Presentation Transcript