Submitted version of the thesis - Airlab, the Artificial Intelligence ...

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16 Chapter 2. State of the Art tual environments with sensor systems that reacted to children dancing in a mediated physical environment. The realm of toys and robotic pets has also seen the development of a wide array of interactive technologies (e.g., Furby, Aibo, Tamagotchi) and more recently Microsoft’s Barney [9], which has been integrated with TV-based video content. Interactive robotic environments for education are now being extended to on-line environments, such as CMU’s educational Mars rover [8], and becoming popular through robotics challenges such as FIRST Robotics Competition [3], BattleBots [1], and Robot World Cup soccer tournaments, such as Robocup [42]. The games related with robots, so called robogames, are categorized into four branches according to AIRLab report [19]. One is the videogames, whererobotcharactersaresimulated. SoccerSimulationLeagueinRoboCup- Soccer is an example of this kind of games. The Simulation League focuses on artificial intelligence and team strategy. Independently moving software players (agents) play soccer on a virtual field inside a computer. This provides a context to the game, but also allows to escape all the limitations of physical robots. Another one is the tele-operated physical robots, where the player is mainly in the manipulation of remote controllers similar to the ones used in videogames, or, eventually, in the physical building of the teleoperated robots, as it happens with RoboWars [11]. A third main stream concerns robots that have been developed by roboticists to autonomously play games (e.g., Robocup). Here, the accent is on the ability to program the robots to be autonomous, but little effort is spent in the eventual playful interaction with people, often avoided, as in most of the Robocup leagues. The last main stream concerns robots that act as more or less like mobile pets. In this case, interaction is often limited to almost static positions, not exploiting rich movement, nor high autonomy; the credibility of these toys to really engage healthy people, such as kids, is not high. According to the AIRLab report [19], a new category of games where the players are involved in a challenging and highly interactive game activity with autonomous robots called as Highly Interactive, Competitive RoboGames (HI-CoRG) is introduced. The idea is to take the videogame players away from screen and console, and to make them physically interact with a robot in their living environment. In this context some heuristics from videogames adapted to be applied on this HI-CoRG games. In our thesis, we focused on developing a robot for games that can be count to the HI-CoRG category.
2.4. Games and Interaction 17 We introduce now some of the robots developed in the past, related to the human robot interaction and games. Kismet(Figure2.8(a))isarobotmadeinthelate1990s at Massachusetts Institute of Technology with auditory, visual and expressive systems intended to participate in human social interaction and to demonstrate simulated human emotion and appearance. This project focuses not on robotrobot interactions, but rather on the construction of robots that engage in meaningful social exchanges with humans. By doing so, it is possible to have a socially sophisticated human assist the robot in acquiring more sophisticated communication skills and helping it to learn the meaning of these social exchanges. A Furby (Figure 2.8(b)) was a popular electronic robotic toy resembling a hamster/owl-like creature which went through in 1998. Furbies were the first successful attempt to produce and sell a domestically-aimed robot. A newly purchased Furby starts out speaking entirely Furbish, the unique language that all Furbies use, but are programmed to speak less Furbish as they gradually start using English. English is learned automatically, and no matter what culture they are nurtured in, they learn English. In 2005, new Furbies were released, with voice-recognition and more complex facial movements, and many other changes and improvements. AIBO (Artificial Intelligence Robot) (Figure 2.8(c)) was one of several types of robotic pets designed and manufactured by Sony. There have been several different models since their introduction on May 11, 1999. AIBO is able to walk, ”see” its environment via camera and recognize spoken commands in Spanish and English. AIBO robotic pets are considered to be autonomous robots since they are able to learn and mature based on external stimuli from their owner, their environment and from other AIBOs. The AIBO has seen use as an inexpensive platform for artificial intelligence research, becauseit integrates a computer, vision system, and articulators in a package vastly cheaper than conventional research robots. The RoboCup autonomous soccer competition had a ”RoboCup Four-Legged Robot Soccer League” in which numerous institutions from around the world would participated. Competitors would program a team of AIBO robots to play games of autonomous robot soccer against other competing teams. ThedevelopmentsinRobocupleadtoimprovementsinthemobilerobots.
Page 1: POLITECNICO DI MILANO Corso di Laur
Page 5: To my family...
Page 9: Summary Aim of this project is the
Page 13 and 14: Contents Sommario I Summary III Tha
Page 15 and 16: List of Figures 2.1 The standard wh
Page 17 and 18: Chapter 1 Introduction 1.1 Goals Th
Page 19 and 20: 1.4. Thesis Structure 3 tailed desc
Page 21 and 22: Chapter 2 State of the Art Advances
Page 23 and 24: 2.1. Locomotion 7 provides low resi
Page 25 and 26: 2.1. Locomotion 9 Figure 2.4: Diffe
Page 27 and 28: 2.1. Locomotion 11 Omnidirectional
Page 29 and 30: 2.2. Motion Models 13 2.2 Motion Mo
Page 31: 2.4. Games and Interaction 15 a 2.5
Page 35 and 36: 2.4. Games and Interaction 19 lot o
Page 37 and 38: Chapter 3 Mechanical Construction W
Page 39 and 40: 3.2. Motors 23 The initial design o
Page 41 and 42: 3.2. Motors 25 Figure 3.3: The calc
Page 43 and 44: 3.3. Wheels 27 target surface, maxi
Page 45 and 46: 3.5. Bumpers 29 Figure 3.8: Three w
Page 47 and 48: 3.6. Batteries 31 itself also works
Page 49 and 50: 3.7. Hardware Architecture 33 In sh
Page 51 and 52: 3.7. Hardware Architecture 35 The s
Page 53 and 54: 3.7. Hardware Architecture 37 With
Page 55 and 56: Chapter 4 Control The motion mechan
Page 57 and 58: 4.1. Wheel configuration 41 Figure
Page 59 and 60: 4.2. Matlab Script 43 This is case
Page 61 and 62: 4.2. Matlab Script 45 Mixed Angular
Page 63 and 64: 4.3. PWM Control 47 acollision, suc
Page 65 and 66: 4.3. PWM Control 49 mentioned previ
Page 67 and 68: Chapter 5 Vision The vision system
Page 69 and 70: 5.1. Camera Calibration 53 the prin
Page 71 and 72: 5.1. Camera Calibration 55 Figure 5
Page 73 and 74: 5.1. Camera Calibration 57 Later, i
Page 75 and 76: 5.2. Color Definition 59 warmer (ye
Page 77 and 78: 5.2. Color Definition 61 Anotheraut
Page 79 and 80: 5.2. Color Definition 63 9000 8000
Page 81 and 82: 5.3. Tracking 65 any color values.
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Chapter 6 Game The robot will be us
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• Initialize sensors • Initiali
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If the camera is set to SERVO MID,
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Chapter 7 Conclusions and Future Wo
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ior, which will be useful in the re
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Bibliography [1] Battle bots-http:/
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BIBLIOGRAPHY 79 [25] Han et al. A n
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Appendix A Documentation of the pro
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Figure A.2: The flow diagram of the
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Appendix B Documentation of the pro
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B.1. Microprocessor Code 87 /* Conf
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B.1. Microprocessor Code 89 #ifdef
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B.1. Microprocessor Code 91 Set_Spe
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B.1. Microprocessor Code 93 TIM_DeI
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B.1. Microprocessor Code 95 /* Expo
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B.1. Microprocessor Code 97 RGBCube
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B.1. Microprocessor Code 99 /* Incl
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B.1. Microprocessor Code 101 #endif
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B.1. Microprocessor Code 103 } void
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B.1. Microprocessor Code 105 GPIO_I
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B.1. Microprocessor Code 107 /* Sta
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B.1. Microprocessor Code 109 } Inve
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B.1. Microprocessor Code 111 #inclu
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B.1. Microprocessor Code 113 /* * M
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B.1. Microprocessor Code 115 b[1] =
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B.1. Microprocessor Code 117 } * (B
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B.1. Microprocessor Code 119 #defin
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B.2. Color Histogram Calculator 121
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B.3. Object’s Position Calculator
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B.3. Object’s Position Calculator
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B.4. Motion Simulator 127 0 0 0 0 0
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B.4. Motion Simulator 129 if (plot
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B.4. Motion Simulator 131 fill (m a
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B.4. Motion Simulator 133 end text(
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Appendix C User Manual This documen
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C.1. Tool-chain Software 137 Figure
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C.2. Setting up the environment (Qt
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C.3. Main Software - Game software
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Appendix D Datasheet The pin mappin
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Figure D.2: The schematics for the
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