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#439006 Low-Cost Drones Learn Precise Control ...

I’ll admit to having been somewhat skeptical about the strategy of dangling payloads on long tethers for drone delivery. I mean, I get why Wing does it— it keeps the drone and all of its spinny bits well away from untrained users while preserving the capability of making deliveries to very specific areas that may have nearby obstacles. But it also seems like you’re adding some risk as well, because once your payload is out on that long tether, it’s more or less out of your control in at least two axes. And you can forget about your drone doing anything while this is going on, because who the heck knows what’s going to happen to your payload if the drone starts moving around?

NYU roboticists, that’s who.

This research is by Guanrui Li, Alex Tunchez, and Giuseppe Loianno at the Agile Robotics and Perception Lab (ARPL) at NYU. As you can see from the video, the drone makes keeping rock-solid control over that suspended payload look easy, but it’s very much not, especially considering that everything you see is running onboard the drone itself at 500Hz— all it takes is an IMU and a downward-facing monocular camera, along with the drone’s Snapdragon processor.

To get this to work, the drone has to be thinking about two things. First, there’s state estimation, which is the behavior of the drone itself along with its payload at the end of the tether. The drone figures this out by watching how the payload moves using its camera and tracking its own movement with its IMU. Second, there’s predicting what the payload is going to do next, and how that jibes (or not) with what the drone wants to do next. The researchers developed a model predictive control (MPC) system for this, with some added perception constraints to make sure that the behavior of the drone keeps the payload in view of the camera.

At the moment, the top speed of the system is 4 m/s, but it sounds like rather than increasing the speed of a single payload-swinging drone, the next steps will be to make the overall system more complicated by somehow using multiple drones to cooperatively manage tethered payloads that are too big or heavy for one drone to handle alone.

For more on this, we spoke with Giuseppe Loianno, head of the ARPL.

IEEE Spectrum: We've seen some examples of delivery drones delivering suspended loads. How will this work improve their capabilities?

Giuseppe Loianno: For the first time, we jointly design a perception-constrained model predictive control and state estimation approaches to enable the autonomy of a quadrotor with a cable suspended payload using onboard sensing and computation. The proposed control method guarantees the visibility of the payload in the robot camera as well as the respect of the system dynamics and actuator constraints. These are critical design aspects to guarantee safety and resilience for such a complex and delicate task involving transportation of objects.

The additional challenge involves the fact that we aim to solve the aforementioned problem using a minimal sensor suite for autonomous navigation made by a single camera and IMU. This is an ambitious goal since it concurrently involves estimating the load and the vehicle states. Previous approaches leverage GPS or motion capture systems for state estimation and do not consider the perception and physical constraints when solving the problem. We are confident that our solution will contribute to making a reality the autonomous delivery process in warehouses or in dense urban areas where the GPS signal is currently absent or shadowed.

Will it make a difference to delivery systems that use an actuated cable and only leave the load suspended for the delivery itself?

This is certainly an interesting question. We believe that adding an actuated cable will introduce more disadvantages than benefits. Certainly, an actuated cable can be leveraged to compensate for cable's swinging motions in windy conditions and/or increase the delivery precision. However, the introduction of additional actuated mechanisms and components come at the price of an increased system mass and inertia. This will reduce the overall flight time and the vehicle’s agility as well as the system resilience with respect to the transportation task. Finally, active mechanisms are also more difficult to design compared to passive ones.

What's challenging about doing all of this on-vehicle?

There are several challenges to solve on-board this problem. First, it is very difficult to concurrently run perception and action on such computationally constrained platforms in real-time. Second, the first aspect becomes even more challenging if we consider as in our case a perception-based constrained receding horizon control problem that aims to guarantee the visibility of the payload during the motion, while concurrently respecting all the system physical and sensing limitations. Finally, it has been challenging to run the entire system at a high rate to fully unleash the system’s agility. We are currently able to reach rates of 500 Hz.

Can your method adapt to loads of varying shapes, sizes, and masses? What about aerodynamics or flying in wind?

Technically, our approach can easily be adapted to varying objects sizes and masses. Our previous contributions have already shown the ability to estimate online changes in the vehicle/load configuration and can potentially be used to operate the proposed system in dynamic conditions, where the load’s characteristics are unknown and/or may vary across consecutive flights. This can be useful for both package delivery or warehouse operations, where different types of objects need to be transported or manipulated.

The aerodynamics problem is a great point. Overall, our past work has investigated the aerodynamics of wind disturbances for a single robot without a load. Formulating these problems for the proposed system is challenging and is still an open research question. We have some ideas to approach this problem combining Bayesian estimation techniques with more recent machine learning approaches and we will tackle it in the near future.

What are the limitations on the performance of the system? How fast and agile can it be with a suspended payload?

The limits of the performances are established by the actuating and sensing system. Our approach intrinsically considers both physical and sensing limitations of our system. From a sensing and computation perspective, we believe to be close to the limits with speeds of up to 4 m/s. Faster speeds can potentially introduce motion blur while decreasing the load tracking precision. Moreover, faster motions will increase as well aerodynamic disturbances that we have just mentioned. In the future, modeling these phenomena and their incorporation in the proposed solution can further push the agility.

Your paper talks about extending this approach to multiple vehicles cooperatively transporting a payload, can you tell us more about that?

We are currently working on a distributed perception and control approach for cooperative transportation. We already have some very exciting results that we will share with you very soon! Overall, we can employ a team of aerial robots to cooperatively transport a payload to increase the payload capacity and endow the system with additional resilience in case of vehicles’ failures. A cooperative cable suspended payload cooperative transportation system allows as well to concurrently and independently control the load’s position and orientation. This is not possible just using rigid connections. We believe that our approach will have a strong impact in real-world settings for delivery and constructions in warehouses and GPS-denied environments such as dense urban areas. Moreover, in post disaster scenarios, a team of physically interconnected aerial robots can deliver supplies and establish communication in areas where GPS signal is intermittent or unavailable.

PCMPC: Perception-Constrained Model Predictive Control for Quadrotors with Suspended Loads using a Single Camera and IMU, by Guanrui Li, Alex Tunchez, and Giuseppe Loianno from NYU, will be presented (virtually) at ICRA 2021.

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#439004 Video Friday: A Walking, Wheeling ...

Video Friday is your weekly selection of awesome robotics videos, collected by your Automaton bloggers. We’ll also be posting a weekly calendar of upcoming robotics events for the next few months; here's what we have so far (send us your events!):

RoboSoft 2021 – April 12-16, 2021 – [Online Conference]
ICRA 2021 – May 30-5, 2021 – Xi'an, China
Let us know if you have suggestions for next week, and enjoy today's videos.

This is a pretty terrible video, I think because it was harvested from WeChat, which is where Tencent decided to premiere its new quadruped robot.

Not bad, right? Its name is Max, it has a top speed of 25 kph thanks to its elbow wheels, and we know almost nothing else about it.

[ Tencent ]

Thanks Fan!

Can't bring yourself to mask-shame others? Build a robot to do it for you instead!

[ GitHub ]

Researchers at Georgia Tech have recently developed an entirely soft, long-stroke electromagnetic actuator using liquid metal, compliant magnetic composites, and silicone polymers. The robot was inspired by the motion of the Xenia coral, which pulses its polyps to circulate oxygen under water to promote photosynthesis.

In this work, power applied to soft coils generates an electromagnetic field, which causes the internal compliant magnet to move upward. This forces the squishy silicone linkages to convert linear to the rotational motion with an arclength of up to 42 mm with a bandwidth up to 30 Hz. This highly deformable, fast, and long-stroke actuator topology can be utilized for a variety of applications from biomimicry to fully-soft grasping to wearables applications.

[ Paper ] via [ Georgia Tech ]

Thanks Noah!

Jueying Mini Lite may look a little like a Boston Dynamics Spot, but according to DeepRobotics, its coloring is based on Bruce Lee's Kung Fu clothes.

[ DeepRobotics ]

Henrique writes, “I would like to share with you the supplementary video of our recent work accepted to ICRA 2021. The video features a quadruped and a full-size humanoid performing dynamic jumps, after a brief animated intro of what direct transcription is. Me and my colleagues have put a lot of hard work into this, and I am very proud of the results.”

Making big robots jump is definitely something to be proud of!

[ SLMC Edinburgh ]

Thanks Henrique!

The finals of the Powered Exoskeleton Race for Cybathlon Global 2020.

[ Cybathlon ]

Thanks Fan!

It's nice that every once in a while, the world can get excited about science and robots.

[ NASA ]

Playing the Imperial March over footage of an army of black quadrupeds may not be sending quite the right message.

[ Unitree ]

Kod*lab PhD students Abriana Stewart-Height, Diego Caporale and Wei-Hsi Chen, with former Kod*lab student Garrett Wenger were on set in the summer of 2019 to operate RHex for the filming of Lapsis, a first feature film by director and screenwriter Noah Hutton.

[ Kod*lab ]

In class 2.008, Design and Manufacturing II, mechanical engineering students at MIT learn the fundamental principles of manufacturing at scale by designing and producing their own yo-yos. Instructors stress the importance of sustainable practices in the global supply chain.

[ MIT ]

A short history of robotics, from ABB.

[ ABB ]

In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. This is demonstrated in a set of real hardware experiments done in free-motion, such as base or end-effector pose tracking, and while pushing/pulling a heavy resistive door. Robustness against model mismatches and external disturbances is also verified during these test cases.

[ Paper ]

This paper presents PANTHER, a real-time perception-aware (PA) trajectory planner in dynamic environments. PANTHER plans trajectories that avoid dynamic obstacles while also keeping them in the sensor field of view (FOV) and minimizing the blur to aid in object tracking.

Extensive hardware experiments in unknown dynamic environments with all the computation running onboard are presented, with velocities of up to 5.8 m/s, and with relative velocities (with respect to the obstacles) of up to 6.3 m/s. The only sensors used are an IMU, a forward-facing depth camera, and a downward-facing monocular camera.

[ MIT ]

With our SaaS solution, we enable robots to inspect industrial facilities. One of the robots our software supports, is the Boston Dynamics Spot robot. In this video we demonstrate how autonomous industrial inspection with the Boston Dynamics Spot Robot is performed with our teach and repeat solution.

[ Energy Robotics ]

In this week’s episode of Tech on Deck, learn about our first technology demonstration sent to Station: The Robotic Refueling Mission. This tech demo helped us develop the tools and techniques needed to robotically refuel a satellite in space, an important capability for space exploration.

[ NASA ]

At Covariant we are committed to research and development that will bring AI Robotics to the real world. As a part of this, we believe it's important to educate individuals on how these exciting innovations will make a positive, fundamental and global impact for years to come. In this presentation, our co-founder Pieter Abbeel breaks down his thoughts on the current state of play for AI robotics.

[ Covariant ]

How do you fly a helicopter on Mars? It takes Ingenuity and Perseverance. During this technology demo, Farah Alibay and Tim Canham will get into the details of how these craft will manage this incredible task.

[ NASA ]

Complex real-world environments continue to present significant challenges for fielding robotic teams, which often face expansive spatial scales, difficult and dynamic terrain, degraded environmental conditions, and severe communication constraints. Breakthrough technologies call for integrated solutions across autonomy, perception, networking, mobility, and human teaming thrusts. As such, the DARPA OFFSET program and the DARPA Subterranean Challenge seek novel approaches and new insights for discovering and demonstrating these innovative technologies, to help close critical gaps for robotic operations in complex urban and underground environments.

[ UPenn ] Continue reading

Posted in Human Robots

#438925 Nanophotonics Could Be the ‘Dark ...

The race to build the first practical quantum computers looks like a two-horse contest between machines built from superconducting qubits and those that use trapped ions. But new research suggests a third contender—machines based on optical technology—could sneak up on the inside.

The most advanced quantum computers today are the ones built by Google and IBM, which rely on superconducting circuits to generate the qubits that form the basis of quantum calculations. They are now able to string together tens of qubits, and while controversial, Google claims its machines have achieved quantum supremacy—the ability to carry out a computation beyond normal computers.

Recently this approach has been challenged by a wave of companies looking to use trapped ion qubits, which are more stable and less error-prone than superconducting ones. While these devices are less developed, engineering giant Honeywell has already released a machine with 10 qubits, which it says is more powerful than a machine made of a greater number of superconducting qubits.

But despite this progress, both of these approaches have some major drawbacks. They require specialized fabrication methods, incredibly precise control mechanisms, and they need to be cooled to close to absolute zero to protect the qubits from any outside interference.

That’s why researchers at Canadian quantum computing hardware and software startup Xanadu are backing an alternative quantum computing approach based on optics, which was long discounted as impractical. In a paper published last week in Nature, they unveiled the first fully programmable and scalable optical chip that can run quantum algorithms. Not only does the system run at room temperature, but the company says it could scale to millions of qubits.

The idea isn’t exactly new. As Chris Lee notes in Ars Technica, people have been experimenting with optical approaches to quantum computing for decades, because encoding information in photons’ quantum states and manipulating those states is relatively easy. The biggest problem was that optical circuits were very large and not readily programmable, which meant you had to build a new computer for every new problem you wanted to solve.

That started to change thanks to the growing maturity of photonic integrated circuits. While early experiments with optical computing involved complex table-top arrangements of lasers, lenses, and detectors, today it’s possible to buy silicon chips not dissimilar to electronic ones that feature hundreds of tiny optical components.

In recent years, the reliability and performance of these devices has improved dramatically, and they’re now regularly used by the telecommunications industry. Some companies believe they could be the future of artificial intelligence too.

This allowed the Xanadu researchers to design a silicon chip that implements a complex optical network made up of beam splitters, waveguides, and devices called interferometers that cause light sources to interact with each other.

The chip can generate and manipulate up to eight qubits, but unlike conventional qubits, which can simultaneously be in two states, these qubits can be in any configuration of three states, which means they can carry more information.

Once the light has travelled through the network, it is then fed out to cutting-edge photon-counting detectors that provide the result. This is one of the potential limitations of the system, because currently these detectors need to be cryogenically cooled, although the rest of the chip does not.

But most importantly, the chip is easily re-programmable, which allows it to tackle a variety of problems. The computation can be controlled by adjusting the settings of these interferometers, but the researchers have also developed a software platform that hides the physical complexity from users and allows them to program it using fairly conventional code.

The company announced that its chips were available on the cloud in September of 2020, but the Nature paper is the first peer-reviewed test of their system. The researchers verified that the computations being done were genuinely quantum mechanical in nature, but they also implemented two more practical algorithms: one for simulating molecules and the other for judging how similar two graphs are, which has applications in a variety of pattern recognition problems.

In an accompanying opinion piece, Ulrik Andersen from the Technical University of Denmark says the quality of the qubits needs to be improved considerably and photon losses reduced if the technology is ever to scale to practical problems. But, he says, this breakthrough suggests optical approaches “could turn out to be the dark horse of quantum computing.”

Image Credit: Shahadat Rahman on Unsplash Continue reading

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#438807 Visible Touch: How Cameras Can Help ...

The dawn of the robot revolution is already here, and it is not the dystopian nightmare we imagined. Instead, it comes in the form of social robots: Autonomous robots in homes and schools, offices and public spaces, able to interact with humans and other robots in a socially acceptable, human-perceptible way to resolve tasks related to core human needs.

To design social robots that “understand” humans, robotics scientists are delving into the psychology of human communication. Researchers from Cornell University posit that embedding the sense of touch in social robots could teach them to detect physical interactions and gestures. They describe a way of doing so by relying not on touch but on vision.

A USB camera inside the robot captures shadows of hand gestures on the robot’s surface and classifies them with machine-learning software. They call this method ShadowSense, which they define as a modality between vision and touch, bringing “the high resolution and low cost of vision-sensing to the close-up sensory experience of touch.”

Touch-sensing in social or interactive robots is usually achieved with force sensors or capacitive sensors, says study co-author Guy Hoffman of the Sibley School of Mechanical and Aerospace Engineering at Cornell University. The drawback to his group’s approach has been that, even to achieve coarse spatial resolution, many sensors are needed in a small area.

However, working with non-rigid, inflatable robots, Hoffman and his co-researchers installed a consumer-grade USB camera to which they attached a fisheye lens for a wider field of vision.

“Given that the robot is already hollow, and has a soft and translucent skin, we could do touch interaction by looking at the shadows created by people touching the robot,” says Hoffman. They used deep neural networks to interpret the shadows. “And we were able to do it with very high accuracy,” he says. The robot was able to interpret six different gestures, including one- or two-handed touch, pointing, hugging and punching, with an accuracy of 87.5 to 96 percent, depending on the lighting.

This is not the first time that computer vision has been used for tactile sensing, though the scale and application of ShadowSense is unique. “Photography has been used for touch mainly in robotic grasping,” says Hoffman. By contrast, Hoffman and collaborators wanted to develop a sense that could be “felt” across the whole of the device.

The potential applications for ShadowSense include mobile robot guidance using touch, and interactive screens on soft robots. A third concerns privacy, especially in home-based social robots. “We have another paper currently under review that looks specifically at the ability to detect gestures that are further away [from the robot’s skin],” says Hoffman. This way, users would be able to cover their robot’s camera with a translucent material and still allow it to interpret actions and gestures from shadows. Thus, even though it’s prevented from capturing a high-resolution image of the user or their surrounding environment, using the right kind of training datasets, the robot can continue to monitor some kinds of non-tactile activities.

In its current iteration, Hoffman says, ShadowSense doesn’t do well in low-light conditions. Environmental noise, or shadows from surrounding objects, also interfere with image classification. Relying on one camera also means a single point of failure. “I think if this were to become a commercial product, we would probably [have to] work a little bit better on image detection,” says Hoffman.

As it was, the researchers used transfer learning—reusing a pre-trained deep-learning model in a new problem—for image analysis. “One of the problems with multi-layered neural networks is that you need a lot of training data to make accurate predictions,” says Hoffman. “Obviously, we don’t have millions of examples of people touching a hollow, inflatable robot. But we can use pre-trained networks trained on general images, which we have billions of, and we only retrain the last layers of the network using our own dataset.” Continue reading

Posted in Human Robots

#438769 Will Robots Make Good Friends? ...

In the 2012 film Robot and Frank, the protagonist, a retired cat burglar named Frank, is suffering the early symptoms of dementia. Concerned and guilty, his son buys him a “home robot” that can talk, do household chores like cooking and cleaning, and remind Frank to take his medicine. It’s a robot the likes of which we’re getting closer to building in the real world.

The film follows Frank, who is initially appalled by the idea of living with a robot, as he gradually begins to see the robot as both functionally useful and socially companionable. The film ends with a clear bond between man and machine, such that Frank is protective of the robot when the pair of them run into trouble.

This is, of course, a fictional story, but it challenges us to explore different kinds of human-to-robot bonds. My recent research on human-robot relationships examines this topic in detail, looking beyond sex robots and robot love affairs to examine that most profound and meaningful of relationships: friendship.

My colleague and I identified some potential risks, like the abandonment of human friends for robotic ones, but we also found several scenarios where robotic companionship can constructively augment people’s lives, leading to friendships that are directly comparable to human-to-human relationships.

Philosophy of Friendship
The robotics philosopher John Danaher sets a very high bar for what friendship means. His starting point is the “true” friendship first described by the Greek philosopher Aristotle, which saw an ideal friendship as premised on mutual good will, admiration, and shared values. In these terms, friendship is about a partnership of equals.

Building a robot that can satisfy Aristotle’s criteria is a substantial technical challenge and is some considerable way off, as Danaher himself admits. Robots that may seem to be getting close, such as Hanson Robotics’ Sophia, base their behavior on a library of pre-prepared responses: a humanoid chatbot, rather than a conversational equal. Anyone who’s had a testing back-and-forth with Alexa or Siri will know AI still has some way to go in this regard.

Aristotle also talked about other forms of “imperfect” friendship, such as “utilitarian” and “pleasure” friendships, which are considered inferior to true friendship because they don’t require symmetrical bonding and are often to one party’s unequal benefit. This form of friendship sets a relatively very low bar which some robots, like “sexbots” and robotic pets, clearly already meet.

Artificial Amigos
For some, relating to robots is just a natural extension of relating to other things in our world, like people, pets, and possessions. Psychologists have even observed how people respond naturally and socially towards media artefacts like computers and televisions. Humanoid robots, you’d have thought, are more personable than your home PC.

However, the field of “robot ethics” is far from unanimous on whether we can—or should— develop any form of friendship with robots. For an influential group of UK researchers who charted a set of “ethical principles of robotics,” human-robot “companionship” is an oxymoron, and to market robots as having social capabilities is dishonest and should be treated with caution, if not alarm. For these researchers, wasting emotional energy on entities that can only simulate emotions will always be less rewarding than forming human-to-human bonds.

But people are already developing bonds with basic robots, like vacuum-cleaning and lawn-trimming machines that can be bought for less than the price of a dishwasher. A surprisingly large number of people give these robots pet names—something they don’t do with their dishwashers. Some even take their cleaning robots on holiday.

Other evidence of emotional bonds with robots include the Shinto blessing ceremony for Sony Aibo robot dogs that were dismantled for spare parts, and the squad of US troops who fired a 21-gun salute, and awarded medals, to a bomb-disposal robot named “Boomer” after it was destroyed in action.

These stories, and the psychological evidence we have so far, make clear that we can extend emotional connections to things that are very different to us, even when we know they are manufactured and pre-programmed. But do those connections constitute a friendship comparable to that shared between humans?

True Friendship?
A colleague and I recently reviewed the extensive literature on human-to-human relationships to try to understand how, and if, the concepts we found could apply to bonds we might form with robots. We found evidence that many coveted human-to-human friendships do not in fact live up to Aristotle’s ideal.

We noted a wide range of human-to-human relationships, from relatives and lovers to parents, carers, service providers, and the intense (but unfortunately one-way) relationships we maintain with our celebrity heroes. Few of these relationships could be described as completely equal and, crucially, they are all destined to evolve over time.

All this means that expecting robots to form Aristotelian bonds with us is to set a standard even human relationships fail to live up to. We also observed forms of social connectedness that are rewarding and satisfying and yet are far from the ideal friendship outlined by the Greek philosopher.

We know that social interaction is rewarding in its own right, and something that, as social mammals, humans have a strong need for. It seems probable that relationships with robots could help to address the deep-seated urge we all feel for social connection—like providing physical comfort, emotional support, and enjoyable social exchanges—currently provided by other humans.

Our paper also discussed some potential risks. These arise particularly in settings where interaction with a robot could come to replace interaction with people, or where people are denied a choice as to whether they interact with a person or a robot—in a care setting, for instance.

These are important concerns, but they’re possibilities and not inevitabilities. In the literature we reviewed we actually found evidence of the opposite effect: robots acting to scaffold social interactions with others, acting as ice-breakers in groups, and helping people to improve their social skills or to boost their self-esteem.

It appears likely that, as time progresses, many of us will simply follow Frank’s path towards acceptance: scoffing at first, before settling into the idea that robots can make surprisingly good companions. Our research suggests that’s already happening—though perhaps not in a way of which Aristotle would have approved.

This article is republished from The Conversation under a Creative Commons license. Read the original article.

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