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Ken Goldberg IEOR and EECS, UC Berkeley

Ken Goldberg IEOR and EECS, UC Berkeley. From Ouija to Tele-Actor: Collaborative Telepresence via the Internet. Outline. Telerobotics Online Telerobots Collaborative Telerobotics Audience Simulation Tele-Actor. Outline. History of Telerobotics 4 projects Collaboration models

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Ken Goldberg IEOR and EECS, UC Berkeley

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  1. Ken Goldberg IEOR and EECS, UC Berkeley From Ouija to Tele-Actor: Collaborative Telepresence via the Internet

  2. Outline • Telerobotics • Online Telerobots • Collaborative Telerobotics • Audience Simulation • Tele-Actor

  3. Outline • History of Telerobotics • 4 projects • Collaboration models • Ouija 2000 • Robust Model • TeleAction

  4. Telerobotics: Related Work • Goertz, ‘54 • Mosher, ‘64 • Tomovic, ‘69 • Salisbury,Bejczy, ‘85 • Ballard, ‘86 • Sheridan, ‘92 • Sato, ‘94 • Presence Journal ‘92- • O. Khatib, et al. ’96

  5. A: B:

  6. Federal Law, Title 18, Section 333: Whoever mutilates, cuts, defaces ... or does any other thing to any bank bill ...shall be fined or imprisoned. Do you, kim@aol.com, understand and wish to proceed? yes no

  7. Irobot.com:

  8. Reality Television

  9. Jason: undersea telerobot

  10. Control methods: … … Batch … MultiTask ? … Collaborative

  11. Maze Following Experiment

  12. Views with Noise:

  13. Performance Time to complete maze (sec): 

  14. Can collaboration improve performance? Consider n noisy inputs, xi, with common mean and std dev = . As the number of inputs increases, the noise in the average, x*, decreases with the square root of n:  * = n (Central Limit Theorem)

  15. Modelling Collaborative Control

  16. Genghis ’86: Brooks et al

  17. Classical Control Architecture

  18. Brooks’ SubsumptionArchitecture

  19. “Sensor Fusion” Architecture

  20. Collaborative Control Architecture

  21. R. and L. Carpenter “Cinematrix” (1992)

  22. A model of cinematrix Cursor on Shared Screen: Audience (2 groups): x y (x,y)

  23. Cinematrix Simulator:

  24. Cinematrix Control Model

  25. Audience agent (FA)

  26. x = [x + fx(x), y + fy(x)]T + x = [x, y]T Audience Response where: f : Q(x, y) x sgn(g(x, y)) {0, +1, -1} g(x, y) = x2 + y2 - r2

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