CSCI 473/573
Human-Centered Robotics
August 31, 2015
What is a Human-Centered Robot?
Robots that can coexist with humans
Emphasizes on DIRECT
interaction with people!
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Applications of HCR: Elderly Care
https://www.youtube.com/watch?v=Z1MJPdhniXc
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Applications of HCR: Daily Assistance
https://www.youtube.com/watch?v=--wEgmNzs0w
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Applications of HCR: Children Education
https://www.youtube.com/watch?v=7T7cIY-MIxc
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Applications of HCR: Children Education
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Applications of HCR: many others!!!
Search and Rescue
Entertainment
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Challenging?
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Challenging?
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Challenges of Robotics
None of the following is easy for a robot!
Yes1.
Ability to move – legs, wheels, fly, burrow, swim, orbit
Yes2. Ability to sense – eyes, ears, other inputs
Yes3. Ability to manipulate – arms, hands, fingers
4. Ability to mimic – appearance, human tasks
5. Ability to communicate – expressions, sounds, voice, digital, analog
Yes6. Ability to think – brain, mechanical mechanism, computer, self-awareness
7. Ability to operate – remotely, program control, autonomously
Usually
8. Ability to react and respond to different situations environments
9. Ability to do something useful
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Challenges of HCR
Additional Challenges for HCR
Yes1.
Yes2.
Yes3.
4.
Yes5.
Yes6.
7.
Yes8.
Yes9.
Ability to move – legs, wheels, fly, burrow, swim, orbit
Ability to sense – eyes, ears, other inputs (Extremely hard to sense people!)
Ability to manipulate – arms, hands, fingers
Ability to mimic – appearance, human tasks
Ability to communicate – expressions, sounds, voice, digital, analog
Ability to think – brain, mechanical mechanism, computer, self-awareness
Ability to operate – remotely, program control, autonomously
Ability to react and respond to different situations (humans & env.)
Ability to do something useful (to be assistive)
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Challenges of HCR
Additional Challenges for HCR
Yes1.
Yes2.
Yes3.
4.
Yes5.
Yes6.
7.
Yes8.
Yes9.
Ability to move – legs, wheels, fly, burrow, swim, orbit
Ability to sense – eyes, ears, other inputs (Extremely hard to sense people!)
Ability to manipulate – arms, hands, fingers
Ability to mimic – appearance, human tasks
Ability to communicate – expressions, sounds, voice, digital, analog
Ability to think – brain, mechanical mechanism, computer, self-awareness
Ability to operate – remotely, program control, autonomously
Ability to react and respond to different situations (humans & env.)
Ability to do something useful (to be assistive)
Difficult to evaluate HCR performance: A working system is
generally not enough; human satisfaction is also essential.
Human factors!!!
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Challenges of HCR
Same lady?
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Challenges of HCR
Locate her on New York street?
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Challenges of HCR
How can a robot navigate in this environment?
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Course Objectives
• Get my students motivated!!!
• Introduce my students the state-of-the-art products
and research on human-centered robotics
• Teach my students practical techniques that are
essential to build human-centered robots
• Help my students construct a working humancentered robotic system or intelligent machine
• Improve my students’ other skills, including paper
writing, presentation, and teaming working
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Topics we’ll Cover
• 3D robotic perception
• Human representation
• Human-robot interaction
• Robot reasoning
• 3D mapping and robot localization
• Several special topics:
• DARPA challenge
• Google self-driving car
• Cloud robotics
• Robot ethics
• Others
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Related CS Courses
• Computer Vision (versus Robot Perception)
• Machine Learning (versus Robot Learning)
• Artificial Intelligence (versus Robot Reasoning)
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Robot Sensing
What to perceive?
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Robot Sensing
What to perceive?
• Internal states:
 Battery level
 Motor temperature
 Joint angles and forces
 Etc.
• External states:
 Distance to objects
 Surrounding environments
 Human states
 Etc.
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