"TROLL": a regenerating robot
| Title | "TROLL": a regenerating robot |
|---|---|
| Summary | A robot which can detect faults on itself and try to mark or fix them |
| Keywords | regenerative robot, self-detection/body schema, anomaly/fault detection, self-healing/augmentation |
| TimeFrame | 2015-01-16 - 2015-06-31 |
| References | (self-detection) K. Gold, B. Scassellati, Using probabilistic reasoning over time to self-recognize, Robotics and Autonomous Systems (2008), doi:10.1016/j.robot.2008.07.006
(body schema) Mai Hikita, Sawa Fuke, Masaki Ogino, Takashi Minato and Minoru Asada. Visual attention by saliency leads cross-modal body representation. IROS - 2008. (anomaly detection) Takahiro Suzuki, Fumihiro Bessho, Tatsuya Harada and Yasuo Kuniyoshi. Visual Anomaly Detection under Temporal and Spatial Non-uniformity for News Finding Robot. IROS 2011. (self-augmentation) Luzius Brodbeck and Fumiya Iida. Enhanced Robotic Body Extension with Modular Units, IROS 2012. |
| Prerequisites | some capability to work with software, and interest in robots and recognition |
| Author | Yinrong Ma |
| Supervisor | Martin Cooney, Anita Sant'Anna |
| Level | Master |
| Status | Finished |
Goal: a companion robot which can fix some of its own problems itself
Motivation: people, especially the elderly, cannot be expected to maintain very complex robots; robots should help out
Challenge: it's tough even for humans to repair robots. For a soft companion robot intended to interact closely with people, two very common problems are:
Degradation of its exterior (marks and scratches) Motor problems (due to e.g., frayed/loose cables, gears wearing down)
Approach:
To detect the problems above, the student will set up a robot to look at itself periodically in a mirror while moving, comparing a mental model of itself with what it actually perceives. Time allowing, the student should also try to develop some capability for the robot to seek to repair identified problems: marking holes in its exterior and damaged motors, and possibly robot motions to try to fill holes with foam
Requirement: some capability to work with software, and interest in robots and recognition
Expected results: a thesis/report, code, video
