Robots and Intelligence

Date: 26 November, 2013

Location: MODSIMMER Seminar Room

Contact:  Sinan Kalkan (skalkan <AT> ceng.metu.edu.tr)

13:30

14:00

Uluç Saranlı

Title

Control of Planar Hopping Through Tunable Damping

Abstract

Planar compliant leg models have been frequently used to both model and control running behaviors. Robot platforms that use these principles often adopt a linear actuator in series with the compliant element in the leg, making it possible to regulate the energy level of the system. Our research focuses on a novel method for controlling this actuator in order to obtain a virtual damping coefficient that is presented to a higher level gait controller. This allows efficient and low-power regulation of system energy, leading to robot designs with smaller actuators and more efficient behaviors. This presentation introduces models and controllers instantiating this idea, together with simulation studies to illustrate their performance.

14:00

14:30

Selim Temizer

Title

Control And Motion Planning For Mobile Robots With Microsoft Kinect-Based Real-Time Hand Gestures

Abstract:

An experimental setup consisting of a hand gesture recognition system based on a Microsoft Kinect XBOX 360 device, a wireless communication system, and a tele-operable robotic system with autonomous shuttling capabilities will be introduced, and the results of a few independent and geographically distributed social experiments aiming to figure out whether such a setup might yield more natural ways of interactions between an inexperienced human operator and a mobile robotic platform will be presented.

14:30

15:00

Sinan Kalkan

Title

Concepts: An important step towards cognition

Abstract:

Learning and conceptualizing word categories in language such as verbs, nouns and adjectives are very important for seamless communication with robots. In this talk, I will talk about how we can link the notion of affordance proposed by Gibson to (i) conceptualize verbs, nouns and adjectives, and (ii) demonstrate how a robot can use them for several important tasks in Robotics. For verbs, I will compare different conceptualization views proposed by Psychologists over the years. Moreover, I will show that there is an important underlying distinction between adjectives and nouns, as supported by recent findings and theories in Psychology, Language and Neuroscience.

15:00

15:15

Break

15:15

15:45

Afşar Saranlı, Mehmet Mutlu

Title

A Real-Time Inertial Motion Blur Metric: Application to Frame Triggering Based Motion Blur Minimization

Abstract

Mobile robots suffer from sensor data corruption due to body oscillations and disturbances. Especially, information loss on images captured with onboard cameras can be extremely high and such loss may become irreversible or deblurring can be computationally costly. In this paper, a novel method is proposed to minimize average motion blur captured by mobile cameras. A real-time computable motion blur metric (MMBM) is derived by using only inertial sensor measurements. MMBM is validated by comparing it to optic flow results. To express the applicability of MMBM, a motion blur minimizing system is built on the RHex. To this end, an onboard camera is externally triggered depending on the real-time-calculated MMBM while the robot is walking straight on a flat surface. The resulting motion blur is compared to motion blur levels of a regular, fixed frame-rate image acquisition schedule by both qualitative inspection and using a blind blur metric on captured images. MMBM based motion blur minimization system not only reduces average motion blur, but also avoids extremely motion blurred frames before an image gets corrupted by simply delaying frame triggering instant.

15:45

16:15

Tours of ATLAS, KOVAN and MOBILITY Research Labs.