Retrofitted Tamiya's King Tiger II with PC104 and various sensors

Research

My research interest is in the area of:: - Mechatronics; - Intelligent Robots; - Human-Machine Interaction; - Gesture & Speech Recognition; - Robot Programming & Architecture

Current Research Activities

Interactive Multi-Modal Robot Programming	Gesture Based Control of a Mobile Robot	Interactive Multi-Modal Programming for Robotic Arc Welding	Interactive Two-Handed Gesture Based Control of a Manipulator

Cye is directly controlled and programmed on-line through speech and hand-gesture interface.	Retrofitted King Tiger is controlled through single handed gestures.	Arc-welding robot (ABB-IRB1400) is programmed and controlled using hand-gestures and speech.	Hand gestres are used to manipulate and adjust shape primitives that drive PUMA to draw various shapes.

Past Research Activities

Task Level Skill Acquisition	TUGV (Transitional Unmanned Ground Vehicle)	Xavier Elevator Riding Project

Developed data-glove based hand-gesture recognition system, including methodologies to train, adapt, and recognize gestures based on statistical modeling techniques. (1999)	TUGV was a program to demonstrate high speed cross country navigation. I was responsible for its lens rectification and stereo calibration programs. [report] (1996)	Xavier navigated to other floors of the building using vision and human interaction. (1995)

Publications

S. Iba, C. J. J. Paredis, and P. K. Khosla, "Interactive Multi-Modal Robot Programming," in Proceedings of the Ninth International Symposium of Experimental Robotics, Singapore, June 18-21, 2004. (Recepient of the IFRR Student Fellowship Award) (pdf)
S. Iba, C. J. J. Paredis, and P. K. Khosla, "Interactive Multi-Modal Robot Programming," International Journal of Robotics Research, 2004. (to appear)
S. Iba, C. J. J. Paredis, and P. K. Khosla, "Intention Aware Interactive Multi-Modal Robot Programming," in Proceedings of the International Conf. on Intelligent Robots and Systems (IROS) 2003, Las Vegas, NV., pp. 3479-3484, Oct 27 - 31, 2003. (pdf)
S. Iba, C. J. J. Paredis, and P. K. Khosla, "Interactive Multi-Modal Robot Programming," in Proceedings of the International Conf. on Robotics and Automations (ICRA) 2002, Washington, D.C., pp.161-168, May 11 - 15, 2002. (Finalist for the Anton Philips Best Student Paper Award) (pdf)
K. Ogawara, S. Iba, T. Tanuki, H. Kimura, K. Ikeuchi, "Acquiring hand-action models by attention point analysis," in Proceedings of the International Conf. on Robotics and Automations (ICRA) 2001, Seoul, Korea, Vol.4 PP.465-470, May 2001. (pdf)
S. Iba, "Robot programming through multi-modal interaction," Proposal document for Ph. D. thesis, Robotics Institute, Carnegie Mellon Universitfy, April 2001. (pdf)
K. Ogawara, S. Iba, T. Tanuki, H. Kimura, K. Ikeuchi, "Recognition of Human Task by Attention Point Analysis," in Proceedings of the International Conference on Intelligent Robot and Systems, Kagawa, Japan, Vol.3, pp.2121 - 2126, 2000. (pdf)
K. Ogawara, S. Iba, T. Tanuki, H. Kimura, K. Ikeuchi, "Construction of Human Task Model based on Attention Point Analysis using Data Gloves and Stereo Vision," in Proceedings of the 18th Annual Conference of the Robotics Society of Japan, Shiga, Japan, Vol.2, pp.855-856, September, 2000. (in Japanese)
K. Ogawara, J. Takamatsu, S. Iba, T. Tanuki, H. Kimura, K. Ikeuchi, "Acquiring hand-action models in task and behavior levels by a learning robot through observing human demonstrations," in Proceedings of the IEEE-RAS International Conference on Humanoid Robots, Boston, September 7-8, 2000. (pdf)
K. Ogawara, S. Iba, T. Tanuki, H. Kimura, K. Ikeuchi, "Recognition and Performance of Human Task with 9-eye Stereo Vision and Data Gloves," in Proceedings of the Computer Vision and Image Media (CVIM) 2000, Shonan, Japan, June 1, 2000. (In Japanese) (pdf)
K. Ogawara, S. Iba, T. Tanuki, Y. Sato, A. Saegusa, H. Kimura, K. Ikeuchi, "Recognition of Human Behaviour using Stero Vision and Data Gloves," Seisan-Kenkyu, vol. 52(5), pp. 225-230, May, 2000. (pdf)
K. Ogawara, S. Iba, H. Kimura, K. Ikeuchi, "Recognition of Human Behavior with 9-eye Stereo Vision and Data Glove," in Proceedings of the Computer Vision and Image Media (CVIM) 2000, Tokyo, Japan, March 23, 2000. (In Japanese) (pdf)
S. Iba, J. M. Vande Weghe, C. J. J. Paredis, P. K. Khosla, "An Architecture for Gesture Based Control of Mobile Robots," in Proceedings of the IROS'99, Kyongju, Korea, pp. 851-857, October 17-21, 1999. (slides/pdf)

Affiliations

Interactive Robot Programming Group (in Advanced Mechatronics Laboratory, The Robotics Institute, Carnegie Mellon University)
CVL Robotics Group (in Computer Vision Laboratory, Institute of Industrial Science, University of Tokyo)

Last modified: Tue Sep 14 05:08:49 EDT 2004

Soshi Iba <iba+@cmu.edu>