1. Active Home
Chris Atkeson

2. HERB: Year 4 Progress
A major emphasis was interface prototyping and ethnographic studies,
collaborating with HSI and PST.
Development of the HERB robot system focused on handling constraints, uncertainty, incorporating better sensing, and using the sensing more effectively, collaborating with MOMAT and PAT.
These developments are being integrated in the next experimental platform for autonomous assistive robots, HERB2.0:

3. HERB: Interfaces and Users
Best Paper Award at the 2010 International Conference on Human-Robot Interaction: Gracefully Mitigating Breakdowns in Robotic Services, Min Kyung Lee, Sara Kiesler, Jodi Forlizzi, Siddhartha Srinivasa, & Paul
Rybski. This paper explored how to reduce the impact of HERB’s and other robot’s errors by managing expectations and appropriately responding to errors.
Prototype Interfaces and Usage Scenerios:

4. HERB: More Effective Sensing
New sensor:
Laser scanner
Improved vision: Handle more clutter
Use error information
to improve
self-knowledge
Handle unknown objects

5. More slides if you need them

6. Recognizing objects in clutter

7. Using New Sensors

8. Grasping in unknown clutter

9. Learning from mistakes

10. HERB 2.0

11. Reorganization
Qoltbots
Active Home
Home and Community
Health & Wellness

12. Qoltbots Appliances Mobile Manipulators Orthoses Prostheses
Exoskeletons
(new faculty:
Geyer (RI)
Collins (ME))
Special
Purpose
Robots
Personal
Mobility
And
Manipulation

13. HERB 1.0: Home Exploring Robotic Butler

14. Comparable Systems HERB Intel/CMU El-E GA Tech STAIR Stanford UMan
UMass
PR2
Willow
STAIR:
Core2Duo SFF
Core2Duo Laptop
2xCore2Duo WS
Core2 Quad server +
15Core2Quad
(offline training)‏

15. Usage Scenarios

16. Usage Scenarios

17. Prototype Interfaces