Blocks World Project Info
We are going to all work on different aspects of getting robots to do the KEVA Contraptions task, focusing
on robot learning.
Get a simulation of building structures and rolling balls going.
Info on ODE and the version 1 simulator.
Magic hand: blocks just go where you tell them.
Disembodied gripper: simulate our gripper flying around and doing stuff.
Simulate arm(s): simulate robot arm(s) doing stuff. Deal with kinematics.
Simulate mobile manipulator(s): add mobile base to robot arm.
Alternative simlators: Bullet, Nvidia's PhysX,
(Google "plank simulation tutorial" for even more info),
A first step: you can use a simulator to produce fake images (and ground truth
data), and use computer vision to figure out 1) where stuff is, and 2) what
happened during a learning trial. Then try to handle real images and video.
Get raw vision (images to block 3D locations) going.
Analyze videos to figure out where the ball went and
how the blocks moved.
Examples of Blocks World vision:
Interpret images. What is touching what? What supports what? What will the
ball do? Examples:
3D-Based Reasoning with Blocks, Support, and Stability
"Looking for trouble: Using causal semantics to direct focus of attention."
(with L. Birnbaum and P. Cooper) Proceedings, International Conference on
Computer Vision, Berlin, 1993.
this page. Also look at his thesis for more information.
"Explanation-mediated vision: Making sense of the world with causal analysis."
PhD dissertation, The Institute for the Learning Sciences, Northwestern University, 1994.
Perceive, understand and reason about what is happening.
Get our robot to learn to do better.
Build: Build our robot arms. We can build 6 robots now.
The rest of the parts arrive at the beginning of March.
The arms are the LewanSoul Xarm
which is the same as the LewanSoul DrawArm from our point of view.
Program: Program our arm(s) to do what is in the KEVA
Contraptions instruction book.
Build: Build our mobile manipulators. We can build 3 of these now.
Program: Program our mobile manipulator(s) to do what is in the KEVA
Contraptions instruction book.
Other things to work on
Program our robot to do something that is fun and entertaining.
Speech understanding (Use google tools).
Understand human narration, instruction, and coaching.
Robot narrates what it is doing. Trash talking.
Robot assistant that helps human with task.
Make our robot an appealing toy, like
This is what the robots we will use look like:
Robot arm stacking blocks in a pyramid
This is a Dynamixel robot arm with a custom designed 3D printed gripper that is a 6DOF, 4 link serial manipulator. It detects the colour, position and orientation of the blocks through a Kinect Depth camera located above the robot. The motion and path planning algorithms for the blocks were designed keeping in mind the various tasks presented to us in our lab.
Robotics - Rhino Block Stacking ETSU 2006
Robot Stacking a 5-block Tower
Mobile robot doing block stacking.
The Sentinel: MIT 6.141 class Tower-Building Mobile Robot.
http://yameb.blogspot.com For the MIT class 6.141 (Robotics: Science And Systems I), in preparation for the Final Challenge.
Baxter Research Robot: Block Stacking Demo
A quickish demo showing Baxter doing some block stacking! Baxter will find a (single) block in its view and stack it at a known location. Created at the University of Glasgow as part of the CloPeMa (Clothes Perception & Manipulation) project. http://gla.ac.uk/ http://www.clopema.eu/
OWI-535 Robotic Arm Edge Block Stacking
Block Stacking with the OWI-535 Robotic Arm Edge using the manual controls. The video was spead up 250% to shoten the video.