Human-Centered Robotics
Chien-Liang Fok�IEEE CEDA Austin Talk
Feb. 3, 2015
Assessment of Disruptive Technologies by 2025 (Global Trends)
More Recently: Global Trends 2030
Quoting Senator John Cornyn
Great Challenge: Assistive Technologies in 2007�(source: Fatronik)
Market analysis:
An unstructured market
Poor information and advice
Assessment problems
Non-human-centred design
A traditional ofer (mobility only). Need alzheimer, parkinson
60 Years History in Human-Centered Robotics
2000
1950
1960
1970
1980
1990
Mobile cooperation
Shakey
Ray Goertz
Atomic Energy Comsision
Manipulation radioactive materials
Sensor-based
Mobile manipulation
DARPA urban
challenge
Humanoids
Microsoft robotics studio
Bill Gates
Shimmer
health monitor
Intel Co.
Monkey
neural interface
Duke Univ.
Unmmaned Systems
Compliant manipulators
Military robots
Biped robots
Exoskeletons
Elderly guidance
Surgical robots
Artificial muscles
Events in Human-Centered Robotics
Mobile cooperation
Shakey
Ray Goertz
National Instruments
Manipulation radioactive materials
Sensor-based
Mobile manipulation
DARPA urban
challenge
Humanoids
Microsoft robotics studio
Bill Gates
Shimmer
health monitor
Intel Co.
Monkey
neural interface
Duke Univ.
Unmmaned Systems
Compliant manipulators
Military robots
Biped robots
Exoskeletons
Elderly guidance
Surgical robots
Artificial muscles
2000
1950
1960
1970
1980
1990
Events in Human-Centered Robotics
Mobile cooperation
Shakey
Ray Goertz
National Instruments
Manipulation radioactive materials
Sensor-based
Mobile manipulation
DARPA urban
challenge
Humanoids
Microsoft robotics studio
Bill Gates
Shimmer
health monitor
Intel Co.
Monkey
neural interface
Duke Univ.
Unmmaned Systems
Compliant manipulators
Military robots
Biped robots
Exoskeletons
Elderly guidance
Surgical robots
Artificial muscles
2000
1950
1960
1970
1980
1990
Events in Human-Centered Robotics
Mobile cooperation
Shakey
Ray Goertz
National Instruments
Manipulation radioactive materials
Sensor-based
Mobile manipulation
DARPA urban
challenge
Humanoids
Microsoft robotics studio
Bill Gates
Shimmer
health monitor
Intel Co.
Monkey
neural interface
Duke Univ.
Unmmaned Systems
Compliant manipulators
Military robots
Biped robots
Exoskeletons
Elderly guidance
Surgical robots
Artificial muscles
2000
1950
1960
1970
1980
1990
Events in Human-Centered Robotics
Mobile cooperation
Shakey
Ray Goertz
National Instruments
Manipulation radioactive materials
Sensor-based
Mobile manipulation
DARPA urban
challenge
Humanoids
Microsoft robotics studio
Bill Gates
Shimmer
health monitor
Intel Co.
Monkey
neural interface
Duke Univ.
Unmmaned Systems
Compliant manipulators
Military robots
Biped robots
Exoskeletons
Elderly guidance
Surgical robots
Artificial muscles
2000
1950
1960
1970
1980
1990
Events in Human-Centered Robotics
Mobile cooperation
Shakey
Ray Goertz
National Instruments
Manipulation radioactive materials
Sensor-based
Mobile manipulation
DARPA urban
challenge
Humanoids
Microsoft robotics studio
Bill Gates
Shimmer
health monitor
Intel Co.
Monkey
neural interface
Duke Univ.
Unmmaned Systems
Compliant manipulators
Military robots
Biped robots
Exoskeletons
Elderly guidance
Surgical robots
Artificial muscles
2000
1950
1960
1970
1980
1990
Prof. Luis Sentis’ Vision of Human Centered Robotics Back in 2009 (human in the loop)
Personal robotics
Unmanned surveillance
Guidance of gait
CARL: Cloud-Based Healthcare Automation
The HCRL People
Started Building Dreamer
Started Building Dreamer
Started Building Dreamer
Trikey Mobile
Base
National Robotics Initiative
Service / Industrial Mobile Worker
Funded Project: Planetary Exploration for NASA
A Few Key Problems
We Started Focusing on Safety
On Human-Robot Cooperation
Safety Everywhere
Then DARPA’s Robotics Challenge Came In
Team up with NASA on Whole-Body Movement Coordination
We started thinking about the design
Locked in the Apollo Lander Room
We Developed Mechanics
Movie
( External Adoption )
X1/Mina Exoskeleton
(cont’d)
Feedback Control Systems
The Problem is the Big Math
Latencies and Noise
Stability
We Developed a Software Middleware
Dubbed “Control-It”
We Developed Human Machine Interfaces
We developed simulations
And we finished in just 9 months...
Other Teams of the DRC
Top team so far...
History of the Project
Prismatic Pendulum Trajectories
Phase Space Planner
Results
Robonomics