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An robotic sculpture speaking to people “Would you like a drink?” Fiberglass and robotics Albano Guatti, 2005

University of Padova Dept. of Information Engineering IAS-Lab (Intelligent Autonomous System Lab). An robotic sculpture speaking to people “Would you like a drink?” Fiberglass and robotics Albano Guatti, 2005. Emanuele Menegatti, A. Pretto, S. Tonello, A. Lastra, A Guatti.

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An robotic sculpture speaking to people “Would you like a drink?” Fiberglass and robotics Albano Guatti, 2005

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  1. University of Padova Dept. of Information Engineering IAS-Lab (Intelligent Autonomous System Lab) An robotic sculpture speaking to people“Would you like a drink?”Fiberglass and roboticsAlbano Guatti, 2005 Emanuele Menegatti, A. Pretto, S. Tonello, A. Lastra, A Guatti IT+Robotics srl, Contrà Valmerlara, 21 - 36100 Vicenza (VI) www.it-robotics.it

  2. University of Padova An interactive robotic sculpture Introduction 1/1 Targets and Results • Goals: • An interactive robotic sculpture conceived and realized by the artist Albano Guatti. • The robotic part was totally developed by the IAS-lab and IT+Robotics according to Guatti’s concept • Requirements: • The robot should be autonomous and it should be able: • to move in a unknown and unstructured environment in a ‘natural’ way • to locate people in the environment, • to navigate toward a person avoiding the obstacles • to approach the person • to ask the person different pre-recorded questions. The more likely is: ”Would you like a drink?” 1

  3. University of Padova An interactive robotic sculpture Metodology 1/2 The robotic sculpture overview 2

  4. University of Padova An interactive robotic sculpture Metodology 1/2 The omnidirectional camera The sensor • it constitutes the neck of the feminine statue • it is embedeed in the appearance of the statue • 360° field of view enables to locate the person without turning on the spot • Logitech USB webcam+custom made hyperbolic mirror+perspex cylinder Image processing: • Background subtraction • Skin detection • Robustness to light variations 2

  5. University of Padova An interactive robotic sculpture Metodology 1/2 Skin detection The skin detection • heuristic algorithm • robust to lighting • no need for calibration • based on the statistic of the moments of pixel distribution • bg nomalized color space 2

  6. University of Padova An interactive robotic sculpture Metodology 1/2 The sonars The sensor: • 24 Polaroid 6500 series • A ring around the sculpture base at 30 cm from the floor • They can sense an obstacle of 3-4 cm diameter at 50 cm • Low reliability beyond 2 m Software: • sonars data are processed using a modified VHF (Vector Field Histogram) • All the readings of the sonars are organized inside a grid, of dimensions 4x4 m 2

  7. University of Padova An interactive robotic sculpture Metodology 1/2 The floor sensors The sensor: • Four custom made floor sensor to detect floor discontinuties in the front of the robot • Designed and realized at IAS-Lab • High brightness led + photoresistor + circuitry • Readout in Pioneer2 board analog input Software: • Floor sensor reflectivity is measured at 4 Hz • Data are stored in a queue • When all data in the queue are over a threshold a floor discontinuity is detected 2

  8. University of Padova An interactive robotic sculpture Metodology 1/2 The driving system The driving system: • 2 independent driven wheels • 2 custer wheel to balance • 1 Pioneer2 motor control board Pioneer2 control board: • P2OS (Pioneer2 Operating System) • several I/O ports: • Digital IN • Analog IN • Motor control port 2

  9. University of Padova An interactive robotic sculpture Metodology 1/2 The laudspeakers The audio system: • 2 automotive loudspeakers • 1 automotive audio-amplifier • Headphone audio output of a laptop The computer: • Acer TravelMate 290 Centrino 1.6 GHz 512 MB RAM • provides computational power • Sends commands to Pioneer2 board via USB/Serial port • Grab camera’s images via USB • Plays the voice files The computer 2

  10. LETMEGOTHROUGH RANDOM STEADY SAY GOTOPERSON University of Padova An interactive robotic sculpture Metodology 1/2 The behaviours • The robot is controlled by a finite state machine • The events detected in the envronment trigger the change of state • The software is written in C++ running under Linux • Multi-threding software which scheduling is controlled by ADE (i.e. IAS-Lab scheduling and networking system) • Graphical user interface for non-professional users 2

  11. University of Padova An interactive robotic sculpture Conclusions 1/1 Conclusions • From experience of Artisti RoboCup team into a commercial product: • IAS-Lab of the University of Padua • IT+Robotics srl a spin-off of the University of Padua. • The robot performed at: • Palace Golinelli (Venice, Italy) 3 days 8h • SMAU 2005 (Milan, Italy) 5 days 10h • Discovery Film Festival 2006 (Rovereto, Italy) 3 days 8h • It has encountered hundreds of people and avoided them! IAS-Lab April, 12 2007 ICRA 2007 14

  12. University of Padova An interactive robotic sculpture Prototypes 2/2 Video demos IT+Robotics srl, Contrà Valmerlara, 21 - 36100 Vicenza (VI) www.it-robotics.it June, 3 2006 Eurobot 2006 16

  13. University of Padova Advanced experimentations on Robotics for academical education Fine Thanks for your attention Any questions? June, 3 2006 Eurobot 2006

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