Ken Goldberg IEOR and EECS, UC Berkeley From Ouija to Tele-Actor: Collaborative Telepresence via the...
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Ken Goldberg IEOR and EECS, UC Berkeley From Ouija to Tele-Actor: Collaborative Telepresence via the Internet
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Transcript of Ken Goldberg IEOR and EECS, UC Berkeley From Ouija to Tele-Actor: Collaborative Telepresence via the...
Ken Goldberg
IEOR and EECS, UC Berkeley
From Ouija to Tele-Actor:Collaborative Telepresence
via the Internet
Outline
• History of Telerobotics
• 4 projects
• Collaboration models
• Ouija 2000
• Robust Model
• TeleAction
Telerobotics: Related Work
• Goertz, ‘54
• Mosher, ‘64
• Tomovic, ‘69
• Salisbury,Bejczy, ‘85
• Ballard, ‘86
• Sheridan, ‘92
• Sato, ‘94
• Presence Journal ‘92-
• O. Khatib, et al. ’96
A:
B:
Federal Law, Title 18, Section 333: Whoever mutilates, cuts, defaces ... or does any other thing to any bank bill ...shall be fined or imprisoned.
Do you, [email protected], understand and wish to proceed?
yes no
IROBOT-LE:
Survivor
Jason: undersea telerobot
… …
……
Collaborative
Control methods:
MultiTask
Batch
?
Ouija 2000: Hardware
• Two PC servers: one running Win98, one running Linux
• Adept 604-S Robot arm
• Panasonic CCD camera
O2K: System Architecture
Client
Internet
Webserver Video Card Robot Control Webserver C
CCD Camera Robot
Applet V Applet C
Planchette Motion Model
Inertiaviscous drag
User Experiments
Views with Noise:
Performance Tests
Time to complete maze (sec):
Subject Trial 1 Trial 2 Trial 3A 146 139 105B 177 141 175
A,B 65 71 72
When does collaboration improve performance?
Consider n noisy inputs, xi, with common mean and std dev = .
As the number of inputs increases, the noise in the average, x*, decreases with the square root of n:
(central limit theorem)
* =n
Online traffic
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Nov 2000: Over 15,000 Registered
http://ouija.berkeley.edu
A Robust Model of Collaborative Control
(with Billy Chen)
Genghis ’86: Brooks et al
Classical Control Architecture
Brooks’ SubsumptionArchitecture
“Collaborative Control” Architecture
R. and L. Carpenter “Cinematrix” (1992)
x
(x,y)
Audience (2 groups):
Cursor on Shared Screen:
y
A model of cinematrix
Cinematrix Simulator:
Cinematrix Control Model
Audience agent (FA)
Incremental cursor update
x = [x + fx(x), y + fy(x)]T+
Where:
x = [x, y]T
f : Q(x, y) x sgn(g(x, y)) {0, +1, -1}
g(x, y) = x2 + y2 - r2
Performance Metric
E = |local error| / total reference areaPerformance = 1 - E
Non-Ideal Agents :
• Drop out• Malicious • Frozen• Random• Time delayed
% non-ideal agents50% 100%0%
Performance
0%
63%
100%
Non-Ideal Agents :
• Drop out• Malicious • Frozen• Random• Time delayed
TeleAction:
Tele-Directors
Environment
(joint with E. Paulos, B. Chen, J. Donath and the MIT sociable media group)
Tele-Actor
summary• History of Telerobotics
• 4 projects
• Collaboration models
• Ouija 2000
• Robust Model
• TeleAction
www.ieor.berkeley.edu/[email protected]
www.ken.goldberg.net
- Data Dentata
- Mercury Project
- Telegarden
- Invisible
Cantilever
- Dislocation
of Intimacy
- Legal Tender
- Mori
- Ouija 2000
- Tele-Actor
“Sensor Fusion” Architecture
