The thesis has been developed at the Intelligent Robotics Laboratory of the University Jaume I (Spain). The objectives are focused on the laboratory's interest fields, which are Telerobotics, Human-Robot Interaction, Manipulation, Visual Servoing, and Service Robotics in general. Basically, the work has consisted of designing and implementing a whole vision based robotic system to control an educational robot via web, by using voice commands like "Grasp the object one" or "Grasp the cube". Our original objectives were upgraded to include the possibility of programming the robot using high level voice commands as well as very quick and significant mouse interactions ("adjustable interaction levels"). Besides this, the User interface has been designed to allow the operator to "predict" the robot movements before sending the programmed commands to the real robot ("Predictive system"). This kind of interface has the particularity of saving network bandwidth and even being used as a whole task specification off-line programming interface. By using a predictive virtual environment and giving more intelligence to the robot supposes a higher level of interaction, which avoids the "cognitive fatigue" associated with many teleoperated systems. The most important novel contributions included in this work are the following: 1. Automatic Object Recognition: The system is able to recognize the objects in the robot scenario by using a camera as input (automatic object recognition). This feature allows the user to interact with the robot using high level commands like "Grasp allen". 2. Incremental Learning: Due to the fact that the object recognition procedure requires some kind of training before operating efficiently, the UJI Online Robot introduces the In-cremental Learning capability, that means the robot is always learning from the user in-teraction. It means the object recognition module performs better as time goes by. 3. Autonomous Grasping: Once an object has been recognized in a scene, the following question is, how ...
The UJI online robot: a distributed architecture for pattern recognition, autonomous grasping and augmented reality
2011-04-12
TDX (Tesis Doctorals en Xarxa)
Theses
Electronic Resource
English
DDC: | 629 |
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