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Robotics Application Framework

Robotics Application Framework. tekkotsu.org. Goals. Develop a common research platform for the Aibo Reduce barrier to entry for new Aibo programmers Encourage hobbyists to become developers. Open Source Model. Why start a new code base? RoboCup competition is good...

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Robotics Application Framework

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  1. Robotics Application Framework tekkotsu.org

  2. Goals • Develop a common research platform for the Aibo • Reduce barrier to entry for new Aibo programmers • Encourage hobbyists to become developers

  3. Open Source Model • Why start a new code base? • RoboCup competition is good... • Drives rapid development • Optimizes real-time performance • ...and bad • Source is “closed” for most of the year • Single task causes specialization

  4. Open Source Model • Our answer: Tekkotsu • First release March 4, 2003 • Three releases in first two months • New features released as soon as they are ready • Support for cygwin and ERS-220 contributed by one of our users

  5. Out of the Box • Vision processing (uses CMVision) • Wireless interfaces • Motion primitives • Walk (from CMPack), poser, keyframed playback, emergency stop, etc. • Mapping and localization • Sound Playback (with mixing)

  6. Architectural Overview • 3 processes: Main, Motion, Sound • Event-based interface; no polling • Flexible state machine formalism • Modular “plug-and-play” organization • Utility functions: timers, mutex, event logging, profiling • Online documentation & tutorials

  7. Remote Monitoring • Raw and color-segmented video • Full 25 frames per second over wireless

  8. Teleoperation (coming soon)

  9. Joint Monitoring Joint position and force graphs

  10. Spherical Depth Map

  11. Horizontal Height Map

  12. Future Development • FastSLAM for Aibo • Simultaneous Localization And Mapping(Montemerlo et al.) • Efficient particle filtering technique • Allows the robot to track position in a relatively unstructured environment

  13. Future Development • New representations for behaviors • Hierarchical state machines • Automated problem solving through keyframe based task descriptions • Visual routines for parsing world maps • New animal learning models • Train Aibos just like real dogs

  14. Credits • Tekkotsu developers • Ethan Tira-Thompson, Alok Ladsariya, Tom Stepleton, Neil Halelamien, David Touretzky at Carnegie Mellon University • Funded by Sony Corporation • Thanks to Manuela Veloso and her Robosoccer group for use of their CMPack’02 code tekkotsu.org

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