Event Calendar:
![[Previous Month]](fileadmin/template/main/calendar/img/left_day.gif)
![[Next Month]](fileadmin/template/main/calendar/img/right_day.gif)
Project Leader
Dr. Paolo Robuffo Giordano
Phone: +49 7071 601-211
Fax: +49 7071 601-616
paolo.robuffo-giordano[at]tuebingen.mpg.de
Phone: +49 7071 601-211
Fax: +49 7071 601-616
paolo.robuffo-giordano[at]tuebingen.mpg.de
Group MembersHRI Overview Poster
News
Towards Autonomous Physical Human-Robot Interaction", Shangai, China
04/2011-06/2011 New course: Analysis and Control of Multi-agent Systems,
Institute for Systems Theory and Automatic Control, University of Stuttgart. Lectures: D. Zelazo and P. Robuffo Giordano
10/2010
3rd Workshop for Young Researchers on Human-Friendly Robotics, Max Planck Institute for Biological Cybernetics
08/2010 IEEE Spectrum Magazine
article on the motion control of the CyberMotion simulator for provide self-motion feedback when piloting virtual vehicles
04/2010 IEEE Spectrum Magazine
article on the motion control of the CyberWalk platform for exploring virtual worlds by locomotion
Five most recent Publications
Nesti A  , Masone C , Barnett-Cowan M , Robuffo Giordano P , Bülthoff HH and Pretto P (September-2012) Roll rate thresholds and perceived realism in driving simulation
Driving Simulation Conference 2012 Europe (DSC), -.
in press
|
|
, Franchi A , , Bülthoff HH and Robuffo Giordano P (July-2012) Rigidity Maintenance Control for Multi-Robot Systems
2012 Robotics: Science and Systems Conference, -.
accepted
|
Riedel M , Franchi A , Robuffo Giordano P , Bülthoff HH and Son HI (June-2012) Experiments on Intercontinental Haptic Control of Multiple UAVs
12th International Conference on Intelligent Autonomous Systems (IAS-12), -.
accepted
|
|
Cognetti M , , Franchi A , and Bülthoff HH (May-2012) 3-D Mutual Localization with Anonymous Bearing Measurements
IEEE International Conference on Robotics and Automation (ICRA 2012), -.
accepted
|
|
, Franchi A , Bülthoff HH and Robuffo Giordano P (May-2012) Bilateral Teleoperation of a Group of UAVs with Communication Delays and Switching Topology
IEEE International Conference on Robotics and Automation (ICRA 2012), -.
accepted
|
Human Robot Interaction Group
The aim of the Human-Robot Interaction group is to study novel ways to interface humans with robots, i.e., autonomous machines that are able to sense the environment, reason about it, and take actions to perform some tasks.
These efforts are guided by the accepted vision that in the future humans and robots will seamlessly cooperate in shared or remote spaces, thus becoming an integral part of our daily life. For instance, robots are expected to relieve us from monotonous and physically demanding work in industrial settings, or help humans in dealing with complex/dangerous tasks, thus augmenting their capabilities. This research group tries to address these challenges from an engineering/computer science point of view: our focus in mainly on (i) how to empower robots with the needed autonomy in order to facilitate the interaction with the human side for accomplishing some shared task, and (ii) how to allow a human user to effectively be in control of a robot(s) while performing a task.
To this end, we rely on the tools of robotics, systems and control theory, computer vision, and psychophysics.
A good example that illustrates our philosophy is probably given by thetelepresence/telerobotics scenarios: exploit remote robot(s) as an extension, or even an augmentation, of the humans' senses and actions. This roughly means that
These efforts are guided by the accepted vision that in the future humans and robots will seamlessly cooperate in shared or remote spaces, thus becoming an integral part of our daily life. For instance, robots are expected to relieve us from monotonous and physically demanding work in industrial settings, or help humans in dealing with complex/dangerous tasks, thus augmenting their capabilities. This research group tries to address these challenges from an engineering/computer science point of view: our focus in mainly on (i) how to empower robots with the needed autonomy in order to facilitate the interaction with the human side for accomplishing some shared task, and (ii) how to allow a human user to effectively be in control of a robot(s) while performing a task.
To this end, we rely on the tools of robotics, systems and control theory, computer vision, and psychophysics.
A good example that illustrates our philosophy is probably given by the
telepresence/telerobotics scenarios: exploit remote robot(s) as an extension, or even an augmentation, of the humans' senses and actions. This roughly means that- the robot(s) should be able to autonomously reason about their remote environment, i.e., to possess a significant level of autonomy in order to perform local tasks and take decisions;
- the human user should be able to dispatch his/her actions to the remote site, and to receive a suitable sensory feedback for an appropriate (remote) situational awareness;
- a flexible level of control/coupling between human user and robot(s) should be possible: from a tight direct control for, e.g., remote manipulation tasks, to a more abstract supervisory control for, e.g., remote navigation tasks.
Main research areas
Vestibular Channel (MPI CyberMotion Simulator)
An ideal telepresence should enable the user to perceive and act on the remote environment as if sensed directly. Such a system should then reproduce the full multisensory flow of information that humans experience through their senses: vision, haptics, hearing, vestibular (self-motion) information, and even smell and taste. While visual and haptics channels have traditionally been exploited in, e.g., many teleoperation settings, little or no attention has been paid to the use of the vestibular channel, i.e., the perception of self linear/angular motion. The following page reports our work on the use of a robotic arm as a motion platform in order to provide vestibular (self-motion) cues to a human pilot when driving a simulated or real vehicle.
[more]
Human/multi-robot interaction (Swarm Teleoperation)
We are investigating the case of interaction between remote multiple robots and a human operator. Multi-robot systems possess several advantages w.r.t. single robots, e.g., higher performance in simultaneous spatial domain coverage, better affordability as compared to a single/bulky system, robustness against single point failures. In our research, we study how to dispatch the human command to multiple remote robots, how to allow the multi-robot system to follow the human's command while maintaining some desired spatial configuration, and how to feed back to the human operator some useful information about the remote site.
[more]
Self-Localization and Navigation (Vision and RFIDs)
As the robots need high level of autonomy, in particular for what concerns self-localization, navigation and map building, we are exploring the use of onboard sensing (vision, IMUs, lasers) and external infrastructures (GPS, radio beacons) to address these problems in indoor and outdoor settings.
[more]
An ideal telepresence should enable the user to perceive and act on the remote environment as if sensed directly. Such a system should then reproduce the full multisensory flow of information that humans experience through their senses: vision, haptics, hearing, vestibular (self-motion) information, and even smell and taste. While visual and haptics channels have traditionally been exploited in, e.g., many teleoperation settings, little or no attention has been paid to the use of the vestibular channel, i.e., the perception of self linear/angular motion. The following page reports our work on the use of a robotic arm as a motion platform in order to provide vestibular (self-motion) cues to a human pilot when driving a simulated or real vehicle.
[more]
Human/multi-robot interaction (Swarm Teleoperation)
We are investigating the case of interaction between remote multiple robots and a human operator. Multi-robot systems possess several advantages w.r.t. single robots, e.g., higher performance in simultaneous spatial domain coverage, better affordability as compared to a single/bulky system, robustness against single point failures. In our research, we study how to dispatch the human command to multiple remote robots, how to allow the multi-robot system to follow the human's command while maintaining some desired spatial configuration, and how to feed back to the human operator some useful information about the remote site.
[more]
Self-Localization and Navigation (Vision and RFIDs)
As the robots need high level of autonomy, in particular for what concerns self-localization, navigation and map building, we are exploring the use of onboard sensing (vision, IMUs, lasers) and external infrastructures (GPS, radio beacons) to address these problems in indoor and outdoor settings.
[more]Last updated: Monday, 07.05.2012