Team of Bielefeld for RoboCup@HOME |
The Team of Bielefeld (ToBI) has been founded in 2009. The robocup activities are embedded in a long-term research history towards human-robot interaction with laypersons in regular home environments. The overall research goal is to provide a robot with capabilities that enable the interactive teaching of skills and tasks through natural communication in previously unknown environments. The challenge is two-fold. On the one hand, we need to understand the communicative cues of humans and how they interpret robotic behavior. On the other hand, we need to provide technology that is able to perceive the environment, detect and recognize humans, navigate in changing environments, localize and manipulate objects, initiate and understand a spoken dialog. Thus, it is important to go beyond typical command-style interaction and to support mixed-initiative learning tasks.
RoboCup 2010
It's starting again the most important exposition for intelligent and autonomous robots, RoboCup 2010, is coming closer. The RoboCup German Open will held in Magdeburg from April 15.-18. 2010 and Team ToBI will be there...
For further info please contact the team leaders or follow us on this website.
Team ToBI 2010:
Team Leader: Sven Wachsmuth, Frederic Siepmann, Denis Schulze, Marco Kortkamp
Team Members: Leon Ziegler, Torben Töniges, Jan-Frederic Steinke, Lukas Twardon, Jonathan Helbach, Andreas Kipp, Matthias Schröder, Annika Rothert
Associated Members: Agnes Swadzba, Florian Lier, Raphael Golombek
RoboCup 2009
At the last RoboCup 2009, the most important exposition for intelligent and autonomous robots, we presented our currently developed project in human-robotic interaction.
Featured with face recognition, speech understanding, object attention, provided by two stereo microphones and one video camera the robot is able to recognize specific persons and follow direct instructions while navigating through an complex environment.
Find out about the RoboCup@HOME or check out the blogs from Graz 2009 or see the pictures on flickr!
Team ToBI 2009:
Team Leader: Sven Wachsmuth, Marc Hanheide, Frederic Siepmann, Fang Yuan, Raphael Golombek, Thorsten Spexard, Roland Philippsen*
Team Member: David Klotz, Johannes Wienke, Jens Otto, Leon Ziegler, Torben Töniges, Sebastian Schneider, Norman Köster
* Robotics and Artificial Intelligence Lab, Stanford University
Platform ToBI
The robot platform for ToBI is a mobilerobots research GuiaBot. The current platform is based on a pioneer peoplebot as long as the new robot is beeing build up.
The robot base is a PatrolBot which is 59cm in length, 48cm in width and in 38cm height, weighs approx. 45 kilograms with batteries and is maneuverable with 1.7 millimeters per second maximum translation and 300 degrees rotation per second. The drive is a two-wheel differential drive with two passive rear casters for balance. Its solid foam-filled 19cm diameter wheels are at the center of rotation. Inside the base there is a 180 degree laser range finder. It can sense objects out to 10-50 meters with a ranging accuracy of ±18 millimeters. The scanning height is at ~30cm above the floor.
Additionally the robot was equipped with a Pioneer 5 degrees-of-freedom (DOF) arm, which is a small and lightweight manipulator driven by six open-loop servo motors. The Pioneer arm’s end-effector is a gripper whose foam-lined fingers allow for grasp and manipulation of objects as large as a soda can and as heavy as 150 grams throughout the arm’s envelope of operation.
The robot body stands ~ 130cm of the ground and holds a 12x zoom pan-/tilt camera together with two interfacial microphones for the detection of the sound direction.
Interested ?!
We are looking for interested students that want to join the team !
Videos of RoboCup in Graz 2009
Who is Who:
The following video shows the performance of team ToBI in the "Who-is-Who" task, where known and unknown persons must be found in the arena, the faces of unknown persons must be learned and afterwards must be re-identified autonomously by the robot.
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Walk 'n' Talk:
This video shows team ToBI doing the "Walk 'n' Talk" task, which is split into two parts: First a team member introduces the location of certain objects (e.g TV set) to the robot; After that the robot has to find these places again - atonomously.
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Previous Videos
The following video shows a naive user study that was carried out with one of the ancestors of ToBI:
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This is the team video showing a HOME environment:
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Related publications:
Swadzba, A., Wachsmuth, S. , "Categorizing Perceptions of Indoor Rooms Using 3D Features", Lecture Notes in Computer Science: Structural, Syntactic, and Statistical Pattern Recognition , vol. 5342, Orlando, FL, USA, Springer, pp. 744–754, 04/12/2008
Spexard, T.P., Hanheide, M. , "System Integration Supporting Evolutionary Development and Design", Human Centered Robotic Systems: Springer, 19/11/2009.
Peltason, J., Siepmann, F.H.K., Spexard, T.P., Wrede, B., Hanheide, M., Topp, E.A. , "Mixed-Initiative in Human Augmented Mapping", International Conference on Robotics and Automation, Kobe, Japan, IEEE, 14/05/2009.
Yuan, F., Swadzba, A., Philippsen, R., Engin, O., Hanheide, M., Wachsmuth, S. , "Laser-based Navigation Enhanced with 3D Time-of-Flight Data", International Conference on Robotics and Automation, Kobe, Japan, IEEE, pp. 2844-2850, 12/05/2009.
Lohse, M., Hanheide, M., Rohlfing, K., Sagerer, G. , "Systemic Interaction Analysis (SInA) in HRI", Conference on Human-Robot Interaction (HRI), San Diego, CA, USA, IEEE, 11/03/2009.
Li, S., Wrede, B., Sagerer, G. , "A dialog system for comparative user studies on robot verbal behavior", Proc. 15th Int. Symposium on Robot and Human Interactive Communication, Hatfield, United Kingdom, IEEE Press, pp. 129--134, September. 2006.
Haasch, A., Hohenner, S., Hüwel, S., Kleinehagenbrock, M., Lang, S., Toptsis, I, Fink, G.A., Fritsch, J., Wrede, B., Sagerer, G. , "BIRON -- The Bielefeld Robot Companion", Proc. Int. Workshop on Advances in Service Robotics, Stuttgart, Germany, Fraunhofer IRB Verlag, pp. 27--32, May. 2004.
Impressions of Team ToBI
Coming soon !
| Attachment | Size |
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| Team_ToBI_TDP_2010.pdf | 8.88 MB |