We got invited by Maidbot to talk about RoboCup@Home Education at ATX Robotics/AI meetup event at The University of Texas at Austin! https://www.meetup.com/Austin-Robotics-AI/events/258694440/

1. RoboCup@Home EDUCATION
AI-Focused Robotics Education by Home Service Robot DIY
UTexas 2019-05-02 | Nankai University – Jeffrey Too Chuan TAN

2. Jeffrey Too Chuan TAN（陈图川）
[ Education Background ]
2007 - 2010 The University of Tokyo (Japan), Department of Precision Engineering, Doctor of Engineering
2004 - 2007 Universiti Tenaga Nasional (Malaysia), Master of Mechanical Engineering
1999 - 2003 Universiti Tenaga Nasional (Malaysia), Bachelor of Mechanical Engineering (Hons.)
[ Working Experience ]
2017 - Present Associate Professor, Nankai University (China)《天津市青年千人计划》
2017 - Present Research Fellow, Tamagawa University (Japan)
2014 - 2017 Project Assistant Professor, Institute of Industrial Science, The University of Tokyo (Japan)
2015 - 2017 Adjunct Lecturer, Tokyo City University (Japan)
2013 - 2014 Project Researcher, Institute of Industrial Science, The University of Tokyo (Japan)
2011 - 2013 Project Researcher, National Institute of Informatics (Japan)
2010 - 2011 Project Researcher, Graduate School of Engineering, The University of Tokyo (Japan)
2004 - 2007 Tutor, Universiti Tenaga Nasional (Malaysia)
[ Professional Services ]
2016 - Present Committee (Service and Junior), World Robot Summit
2016 - Present Organizing Committee, RoboCup Federation (@Home)
2015 - Present Committee, RoboCup@Home Education
2014 - Present Organizing Committee, RoboCup Japan (@Home)
2
Profile

3. Home Service Robot
3[https://www.youtube.com/watch?v=qx7MLIf_23k]

4. Service Robots
• Care/Assistive Robot
• Pet Robot
• Communication
Robot
• Edutainment Robot
4

5. RoboCup@Home
RoboCup@Home aims to foster the development of service and assistive robot technology to make possible
future personal domestic applications. The competitions comprise of a set of benchmark tests to evaluate the
robots’ capabilities in realistic home environment settings and scenarios, with the research focuses on: human-
robot interaction and cooperation, navigation in dynamic environments, computer vision and object recognition
under natural light conditions, object manipulation, adaptive behaviors and learning, ambient intelligence, and
system integration.
5

6. AI-Focused Robotics Education by
Home Service Robot DIY
The “Bridging Problem”
School-level Robotics Education vs University-level Robotics Research
• Bottom-up vs Top-down
• Conceptual Problems vs Real World Problems
The Blooming of AI, Cloud and Big Data
• Learning Platform and Ecosystem
6

7. Outline
1. Prologue: Team KameRider
2. RoboCup@Home EDUCATION Initiative
a. Education Challenge
b. Educational Open Robot Platforms
c. Outreach Programs
3. Home Service Robot DIY

8. 1. PROLOGUE: TEAM KAMERIDER
http://openbotics.org/kamerider/

9. 2013 The Beginning of Team KameRider
2013.05.03-06 RoboCup Japan Open 2013 Tokyo, Japan
• [UT] Jeffrey
• [Award] JSAI Award [SIGVerse for RoboCup @Home Simulation]
• [Award] RoboCup @Home Simulation [2nd Place]
2013.06.24-07.01 RoboCup 2013 Eindhoven, Netherlands
(International)
• [Symposium] Poster: “Open Web Based Development Platform for
RoboCup @Home Simulation”
• [Symposium] Oral: “Development of RoboCup@Home Simulation
towards Long-term Large Scale HRI”

10. 2014 Forming Collaboration
UT-NKU (China), UT-UTM (Malaysia)
2014.03-06 Internship of Mr. Tey @ SIT, Japan
• [Internship] Mr. Tey (UTM) assisted Jeffrey's team in the
development of a basic robot platform for RoboCup
@Home
2014.05.03-06 RoboCup Japan Open 2014 Fukuoka, Japan
• [UT] Jeffrey, [NKU] 6 members, [UTM] Tey Wei Kang
• [Award] JSAI Award [Standard Platform for RoboCup
@Home]
• [Award] RoboCup @Home Simulation [2nd Place]

11. 2014 Forming Collaboration
UT-NKU (China), UT-UTM (Malaysia)
2014.06-09 Internship of Mr. Seow @ UT, Japan
• [Internship] Mr. Seow (UTM) develops the basic robot
platform for RoboCup @Home based on the RCF support
2014.12.06 Intelligent Home Robotics Challenge 2014, Tokyo
• [UT] Jeffrey, [UTM] Lim Kian Sheng, Mohamad Hafizuddin
bin Majek, Muhammad Faiz bin Muhammad Rozi
• [Award] Mobile Robot Category 3rd Place
• [Award] Overall 3rd Place

12. 2015 Starting Education Challenge
2015.05.03-06 RoboCup Japan Open 2015 Fukui, Japan
• [UT] Jeffrey, [NKU] 3 members, [UTM] Muhammad
Najib Abdullah, Nicole Tham Lei May
• [Award] RoboCup @Home SPL (Beta) [1st Place]
• [Award] RoboCup @Home Simulation [3rd Place]

13. 2015 Entering International RoboCup
2015.07.17-23 RoboCup 2015 Hefei, China
(International)
• [UT] Jeffrey, [NKU] 7 members, [UTM]
Yeong Che Fai, Seow Yip Loon, Nicole Tham
Lei May
• Overall ranked 7th out of 17 qualified teams
• Top 9 teams to enter Stage 2

14. 2016 Collaborative Team UT-NKU-UTM-SIT
2016.03.24-27 RoboCup Japan Open 2016 Aichi,
Japan
• [Award] RoboCup @Home Education [2nd Place]
• [Award] RoboCup @Home Simulation [1st Place]
2016.06.30-07.04 RoboCup 2015 Leipzig, Germany
(International)
• Overall ranked 7th out of 23 qualified teams
14

15. 2017 Collaborative Team NKU-UTM-SIT
RoboCup Japan Open 2017 Nagoya
• [Award] RoboCup @Home Education [1st Place]
• [Award] RoboCup @Home Simulation [2nd Place]
RoboCup 2017 Nagoya (International)
• [Award] RoboCup @Home SSPL [Overall ranked 4th
out of 7 qualified teams]
RoboCup Asia-Pacific 2017 Bangkok
• [Award] RoboCup @Home [1st Place]
• [Award] RoboCup @Home Education [1st Place]
15

16. Competition Achievements
16

17. Competition Achievements
2018 RoboCup Japan Open 2018 Ogaki, RoboCup @Home Education [2nd Place]
2018 RoboCup机器人世界杯中国赛, RoboCup家庭组技术挑战赛 [冠军]
2017 RoboCup Asia-Pacific 2017 Bangkok, RoboCup @Home [1st Place]
2017 RoboCup Asia-Pacific 2017 Bangkok, RoboCup @Home [1st Place]
2017 RoboCup Asia-Pacific 2017 Bangkok, RoboCup @Home Education [1st Place]
2017 RoboCup 2017 Nagoya, Japan (International), RoboCup @Home SSPL [Overall ranked 4th out of 7
qualified teams]
2017 RoboCup Japan Open 2017 Nagoya, RoboCup @Home Education [1st Place]
2017 RoboCup Japan Open 2017 Nagoya, RoboCup @Home Simulation [2nd Place]
2016 RoboCup 2016 Leipzig, Germany (International), RoboCup @Home League [Overall ranked 7th
out of 23 qualified teams]
2016 RoboCup Japan Open 2016 Aichi, RoboCup @Home Education [2nd Place]
2016 RoboCup Japan Open 2016 Aichi, RoboCup @Home Simulation [1st Place]
2015 RoboCup 2015 Hefei, China (International), RoboCup @Home League [Overall ranked 7th out of
17 qualified teams]
2015 RoboCup Japan Open 2015 Fukui, RoboCup @Home SPL [1st Place]
2015 RoboCup Japan Open 2015 Fukui, RoboCup @Home Simulation [3rd Place]
2014 Intelligent Home Robotics Challenge 2014 [Overall 3rd Place]
2014 Intelligent Home Robotics Challenge 2014 [Mobile Robot Category 3rd Place]
2014 Japanese Society for Artificial Intelligence (JSAI) Award [Standard Platform for RoboCup @Home]
2014 RoboCup Japan Open 2014 Fukuoka, RoboCup @Home Simulation [First Runner Up]
2013 Japanese Society for Artificial Intelligence (JSAI) Award [SIGVerse for RoboCup @Home
Simulation]
2013 RoboCup Japan Open 2013 Tokyo, RoboCup @Home Simulation [First Runner Up]
17

18. 2. ROBOCUP@HOME EDUCATION
INITIATIVE
http://www.robocupathomeedu.org/
18

19. RoboCup@Home EDUCATION
RoboCup@Home EDUCATION is an educational initiative that
promotes educational efforts to boost RoboCup@Home
participation and service robot development.
Under this initiative, currently there are 3 projects in
operation:
1. RoboCup@Home Education Challenge
2. Support the Development of Educational Open Robot
Platforms for RoboCup@Home (service robotics)
3. Outreach Programs (domestic workshops, international
academic exchange programs, etc.)
http://www.robocupathomeedu.org/
https://www.facebook.com/robocupathomeedu/
19

20. RC@Home
Education
RC@Home
Education
RC@Home
Education
Challenge
RC@Home
Education
Challenge
Open
Robot
Platform
Open
Robot
Platform
OutreachOutreach
RoboCup
Community
RoboCup
Community
iHR Challenge
Exchange Program
Workshop
RoboCup Japan Open
Promote
New Entry
Evolution by New
Contribution
Open
Courseware
Evaluate the
learning
Open Design &
Source Codes
Open Design &
Source Codes
Core Robot Platform
with Modular Add-ons
Robots in RoboCup
Japan Open 2016
Invited Lecture
Universities
& Research
Community
Universities
& Research
Community
RoboCup
Committee
RoboCup
Committee
Join RoboCup
Outreach to Public
Improve Service
Robot Development

21. Regional
Collaborators
[ Japan ]
• Organizer: RoboCup Japan Committee
• Coordinator:
– Hiroyuki OKADA (Tamagawa University)
– Yoshinobu HAGIWARA (Ritsumeikan University)
– Jeffrey Too Chuan TAN (Nankai University, China)
• Supporter:
– Yasuhiro MASUTANI (Osaka Electro-Communication University)
– Kosei DEMURA (Kanazawa Institute of Technology)
– Yuki INOUE (Osaka Institute of Technology)
– Kenichi OHARA (Meijo University)
[ Italy ]
• Organizer: Italian RoboCup Regional Committee
• Coordinator:
– Luca Iocchi (Sapienza University of Rome)
– Paola Ferrarelli (Sapienza University of Rome)
[ USA ]
• Collaborator: Amy EGUCHI (Bloomfield College), M. Q. Azhar (BMCC.CUNY)
[ Canada ]
• Collaborator: Sara Iatauro (English Montreal School Board)
[ China]
• Collaborator: 李实 (中科院自动化所)
[ Thailand ]
• Collaborator: Kanjanapan SUKVICHAI (Kasetsart University)
[ Malaysia ]
• Collaborator: Zool Hilmi Ismail (Universiti Teknologi Malaysia), Kwan Ban Hoe, Danny Ng Wee Kiat
(University Tunku Abdul Rahman), Wan Zuha Wan Hasan, Hafiz Rashidi Harun (Universiti Putra
Malaysia)
[ Iran ]
• Collaborator: Reza Javanmard (University of Science and Technology of Mazandaran) 21

22. 2-A EDUCATION CHALLENGE
http://www.robocupathomeedu.org/challenges
22

23. RoboCup@Home Education Challenge
• RoboCup@Home (Main)
– Since 2006
• RoboCup@Home Education Challenge
– RoboCup Japan Open 2015, Fukui (SPL Beta), Japan
– RoboCup Japan Open 2016, Aichi, Japan
– RoboCup Japan Open 2017, Nagoya, Japan
– RoboCup Asia-Pacific 2017 Bangkok, Thailand
– RoboCup Japan Open 2018, Ogaki, Japan
– European RoboCupJunior Championship (EURCJ) 2018,
Montesilvano,Italy
– RoboCup 2018 Montreal, Italy
• Upcoming events
– RoboCup China Open 2019, Shaoxing, China
– European RoboCupJunior Championship (EURCJ) 2019, Trieste, Italy
– RoboCup 2019 Sydney, Austrialia
– RoboCup Japan Open 2019, Japan
23

24. RoboCup@Home Education Challenge
RoboCup Japan Open 2015, 2016, 2017, 2018
RoboCup Japan Open 2015, Fukui (SPL Beta)
RoboCup Japan Open 2016, Aichi

25. RoboCup@Home Education
RoboCup Japan Open 2015, Fukui (SPL Beta)
• Date: 2015 May 1 (Fri) - 4 (Mon)
• Participated Teams
1. AHP-1 eR@sers (Tamagawa University)
2. AHP-2 OIT Kitayama (Osaka Institute of Technology)
3. AHP-3 KameRider (The University of Tokyo, Nankai
University (China), Universiti Teknologi Malaysia
(Malaysia))
4. AHP-4 SOBITS (Soka University)
5. AHP-5 D.K.T. IcARus (Kanagawa Institute of
Technology)
6. AHP-6 TanichuCluster (Ritsumeikan University)
Ranking
No.
Team
Basic
Functionalities
Restaurant
Sub-Total(5/2)
FollowMe
Sub-Total(5/3)
5/2+5/3
Normalization
Technical
Challenge
(InternalJudges)
Total
1st AHP-3 KameRider 400 750 1150 300 300 1450 100 40 46 38 91.33
2nd AHP-6 TanichuCluster 150 250 400 50 50 450 31 33 41 40 53.52
3rd AHP-1 eR@sers 150 0 150 560 560 710 49 18 35 16 47.48
4th AHP-2 OIT Kitayama 400 0 400 250 250 650 45 19 30 12 42.75
5th AHP-5 D.K.T. IcARus 0 0 0 181 181 181 12 23 26 34 33.91
6th AHP-4 SOBITS 0 0 0 221 221 221 15 15 31 20 29.62

26. RoboCup@Home Education
RoboCup Japan Open 2015, Fukui (SPL Beta)
The RoboCup@Home rulebook of 2014 is based and 4 tests are selected as follows:
1. Basic Functionalities
• The description in section 5.2 Basic Functionalities (pg. 40-42) is referred.
• In section 5.2.1, 1. Pick and Place (pg. 40), the objects for the robot to pick up will
be located within the reach of the working envelope of the robot arm.
2. Follow Me
• The description in section 5.3 Follow Me (pg. 43-47) is referred.
• No change is made on the rules.
3. Restaurant
• The description in section 6.3 Restaurant (pg. 64-66) is referred.
• In section 6.3.2, 1. Guide phase (pg. 64) is omitted. The object and delivery
locations will be informed before the game.
• In section 6.3.2, 2. Navigation and manipulation phase (pg. 64), the objects for the
robot to retrieve will be located within the reach of the working envelope of the
robot arm.
4. Open Challenge
• The description in section 5.5 Open Challenge (pg. 52-54) is referred.
• No change is made on the rules.
[http://www.robocupathomeedu.org/challenges/robocup-home-education-challenge-2015/rules-2015]

27. RoboCup@Home Education
RoboCup Japan Open 2016, Aichi
• Date:
– Competition days: 2016 March 25 (Fri) - 27 (Sun)
– Team setup: 2016 March 24 (Thu)
• Venue:
– Aichi Institute of Technology, Aichi, Japan
• Participating Teams:
1. eR@sers (Tamagawa University)
2. OIT Kitayama (Osaka Institute of Technology)
3. KameRider (The University of Tokyo, Nankai
University (China), Universiti Teknologi
Malaysia (Malaysia), Shibaura Institute of
Technology)
4. SOBITS (Soka University)
5. WinKIT@DKT (Kanagawa Institute of
Technology)
6. TanichuCluster (Ritsumeikan University)
7. MMR (Meijo University)
8. ODENS (Osaka Electro-Communication
University)
9. Eruca (Tokyo City University)

28. RoboCup@Home Education
RoboCup Japan Open 2016, Aichi
The RoboCup@Home rulebook of 2015 is based and 4 tests are selected as follows:
1. Navigation Test
• The description in section 5.3 Navigation Test (pg. 50-53) is referred.
• No change is made on the rules.
2. Speech Recognition & Audio Detection Test
• The description in section 5.6 Speech Recognition & Audio Detection Test (pg. 59-
61) is referred.
• No change is made on the rules.
3. Restaurant
• The description in section 6.3 Restaurant (pg. 66-70) is referred.
• In section 6.3.3, 6. Delivering phase (pg. 67), the objects for the robot to retrieve
will be located within the reach of the working envelope of the robot arm (see
below).
4. Finals
• The description in chapter 7 Finals (pg. 79-80) is referred.
• No change is made on the rules.
[http://www.robocupathomeedu.org/challenges/robocup-home-education-challenge-2016/rules-2016]

29. RoboCup@Home Education Challenge 2017
RoboCup Asia-Pacific (RCAP) 2017 Thailand
29
https://blogs.mathworks.com/racing-lounge/2018/01/17/robocupathome-education-workshop/

30. RoboCup@Home Education Challenge
European RoboCupJunior Championship
(EURCJ) 2018, Montesilvano, Italy
30

31. Workshop June 16 (Sat) ~ 18 (Mon), 2018
• 6/16
– AM Workshop 1 Hardware and Software
Setup
– PM Workshop 2 Speech, Navigation
• 6/17
– AM Workshop 3 Vision
– PM Workshop 4 Arm, System Integration
• 6/18
– AM Field Testing
– PM Robot Inspection and Presentation
Competition June 19 (Tue) ~ 21 (Thu), 2018
• 6/19
– AM Team Setup
– PM Task 1 Speech and Person Recognition
• 6/20
– AM Task 2 Help-me-carry
– PM Task 3 Restaurant
• 6/21
– AM Finals (Demo and Presentation)
***AM 09:00~12:00; PM 13:00~16:00 31

32. RoboCup@Home Education Challenge 2018
RoboCup 2018, Montreal
32

33. Workshop July 2 (Tue) ~ 4 (Thu), 2019
• 7/2
– AM Workshop 1 Hardware and Software
Setup
– PM Workshop 2 Speech, Navigation
• 7/3
– AM Workshop 3 Vision
– PM Workshop 4 Arm, System Integration
• 7/4
– AM Field Testing
– PM Robot Inspection and Presentation
Competition July 5 (Fri) ~ 7 (Sun), 2019
• 7/5
– AM Team Setup
– PM Task 1 Speech and Person Recognition
• 7/6
– AM Task 2 Help-me-carry
– PM Task 3 Restaurant
• 7/7
– AM Finals (Demo and Presentation)
***AM 09:00~12:00; PM 13:00~16:00 33

34. 2-B EDUCATIONAL OPEN ROBOT
PLATFORMS
http://www.robocupathomeedu.org/robots
34

35. MARRTINO ROBOT
An open source, open hardware robotic platform
A mobile robot to learn and discover
35https://www.marrtino.org/

36. Educational Open Robot Platform for
RoboCup@Home (Service Robot)

37. Approach
• Open source platform
for service robot
– Startup base, cost
effective and community
support
• Current design:
– Basic robot platform
– Modular add-ons

38. Specifications
• Mobile Base
– TurtleBot2 (Kobuki)
• Perception Systems
– Kinect for Xbox 360
• Robot Arm
– TurtleBot Arm
– Elevated Platform
• User Interface
– Digital I/O
– Android interface
– Iconic robot facial expression system
• Software framework
– Navigation
– Manipulation
– Voice Interaction
– People/object recognition

39. Various Implementations
• Different hardware configurations of Team
KameRider for Japan Open 2015 and RoboCup
2015 Hefei
39

40. Open Source Solution
Open robot platform for service robotics
• Open courseware
– http://www.robocupathomeedu.org/learn
– http://robotforall.org/opencourseware/
• Support wiki
– http://robotforall.org/wiki/
• Source codes
– https://github.com/robocupathomeedu/
• Demo videos
– https://www.youtube.com/user/kameriderteam
40

41. Hardware Cost
• Current hardware cost of Open Robot Platform:
41
Item Qty Cost (USD)
Mobile platform (TutleBot2) 1 1,000
Robot arm 1 600
Elevated upper platform 1 600
Motion sensor (MS Kinect) 2 500
Electronics and miscellaneous 1 300
Controller and interface system
(Laptop PC)
1 2,000
Total 5,000
PR2: ~400,000 USD
ORP: ~5,000 USD

42. 2-C OUTREACH PROGRAMS
http://www.robocupathomeedu.org/outreach
42

43. Domestic
Workshops
[ Japan ]
• Family & Robotics Workshops
– 2014.08.31 Introduction to ROS and TurtleBot2
– 2014.09.04 RoboCup@Home Challenge with TurtleBot2
– 2014.09.28 “Grab a bottle” with TurtleBot2
– 2014.11.16 “Follow me” with TurtleBot2
• 2016.01.23 RC@HomeEDU Workshop (Kanto)
• 2016.02.20 RC@HomeEDU Workshop (Kansai)
• 2016.12 3rd RC@HomeEDU Workshop (Kansai)
• 2017.02 4th RC@HomeEDU Workshop (Kanto)
[ Malaysia ]
• 2017.02 RC@HomeEDU Workshop
[ Italy ]
• 2017.03 RC@HomeEDU Workshop @ RomeCup
[ Iran ]
• 2017.04 RC@HomeEDU Workshop @ RoboCup Iran
Open 2017
[ China ]
• 2017.08 RC@HomeEDU Seminar @ ROS技术及应用
培训，中国机器人大赛2017
[ USA ]
• 2017.09 RC@HomeEDU Exhibition @ Maker Faire,
New York
[ Thailand ]
• 2017.12 RC@HomeEDU Workshop @ RoboCup Asia
Pacific 2017
43

44. Talks and Seminars
44

45. Academic Meetings
45

46. Hands-on Workshops
46

47. 47

48. Undergraduate Course
Robotics Software Engineering
48

49. International Academic
Exchange Programs
• 2017.01.09-18 SAKURA Science Program @ Japan
– Host: Tamagawa University (Japan)
– Visitor: 10 students and 1 staff from Kasetsart University
(Thailand)
• 2016.12-2017.03 RoboCup Internship @ Japan
– Host: The University of Tokyo (Japan)
– Intern: 1 student from Univerisiti Teknologi Malaysia
(Malaysia)
• 2016.02.26-03.06 SAKURA Science Program @ Japan
– Host: The University of Tokyo (Japan)
– Visitor: 10 students and 1 staff from Nankai University (China)
• 2016.02.03-19 SAKURA Science Program @ Japan
– Host: Shibaura Institute of Technology (Japan)
– Visitor: 10 students and 2 staff from Universiti Teknologi
Malaysia (Malaysia)
• 2014.12.06 Intelligent Home Robotics Challenge 2014
@ Japan
– Venue: Tokyo
– Participated the challenge and workshop by 3 students from
Univerisiti Teknologi Malaysia (Malaysia)
• 2014.06-09 RoboCup Internship @ Japan
– Host: The University of Tokyo (Japan)
– Intern: 1 student from Univerisiti Teknologi Malaysia
(Malaysia)
• 2014.03-06 Robotics Internship @ Japan
– Host: Shibaura Institute of Technology (Japan)
– Intern: 1 student from Univerisiti Teknologi Malaysia
(Malaysia)

50. Student Development PhD Scholarship at
Australian National University
Internship in Japan Internship in ItalyInternship in Italy

51. Next Step
• Worldwide Initiative
– RoboCup@Home
Education Community
(Challenge, Workshop)
– USA, Europe (Italy),
Thailand, China, Iran,
Malaysia, Singapore, etc.
51
• Collaboration with RoboCup Junior
• Collaboration with Industrial Partners
– MathWorks, NVIDIA, ROBOTIS
• Open Courseware and Open Robot (Hardware/Software)
Development

52. World Robot Summit – Junior Category
School Robot Challenge Workshop & Trial 2017
52

53. World Robot Summit – Junior Category
School Robot Challenge Workshop & Trial 2018
53

54. 3. HOME SERVICE ROBOT DIY
http://www.robocupathomeedu.org/learn
54

55. Home Service Robot DIY
a. Robot LEG
– Autonomous Navigation
b. Robot EYES
– Visual Perception
c. Robot ARM
– Object Manipulation
d. Robot MOUTH
– Human-Robot Interaction
e. Robot BRAIN
– AI, Machine Learning,
Cloud Computing, Big Data
55

56. Home Service Robot DIY
a. Robot LEG
– Autonomous Navigation
b. Robot EYES
– Visual Perception
c. Robot ARM
– Object Manipulation
d. Robot MOUTH
– Human-Robot Interaction
e. Robot BRAIN
– AI, Machine Learning,
Cloud Computing, Big Data
56

57. 2a. Robot LEG – Autonomous Navigation
• Mobile Platform
57

58. 2a. Robot LEG – Autonomous Navigation
58
• Indoor Autonomous Navigation
– Adaptive Monte Carlo Localization (AMCL)
– Simultaneous Localization and Mapping (SLAM)
– Static and Dynamic Obstacle Avoidance

59. 2a. Robot LEG – Autonomous Navigation
• Path Planning
– E.g. A* search algorithm 𝑓 𝑛 = 𝑔 𝑛 + ℎ(𝑛)
59
[http://www.policyalmanac.org/games/aStarTutorial.htm]
startn ngoal

60. Home Service Robot DIY
a. Robot LEG
– Autonomous Navigation
b. Robot EYES
– Visual Perception
c. Robot ARM
– Object Manipulation
d. Robot MOUTH
– Human-Robot Interaction
e. Robot BRAIN
– AI, Machine Learning,
Cloud Computing, Big Data
60

61. 2b. Robot EYES – Visual Perception
• Robot Vision
– Perception by RGB-D Sensor
61
[https://msdn.microsoft.com/en-us/library/jj131033.aspx]

62. 2b. Robot EYES – Visual Perception
• Image Processing by OpenCV
• Deep Learning Object Detection by YOLO
62

63. People Tracking (Follow Me)
63

64. RGB-D Sensor
3D MS Kinect sensor
● RGB Color VGA Video camera
● Depth sensor
○ Infrared projector
○ Monochrome CMOS sensor
● Resolution 640 x 480 pixel
● 30 FPS
64

65. People Tracking (Follow Me)
65
Parameter
min_y
max_y
min_x
max_x
max_z
goal_z
x_scale
z_scale
Data Point Cloud
Control Parameters

66. Home Service Robot DIY
a. Robot LEG
– Autonomous Navigation
b. Robot EYES
– Visual Perception
c. Robot ARM
– Object Manipulation
d. Robot MOUTH
– Human-Robot Interaction
e. Robot BRAIN
– AI, Machine Learning,
Cloud Computing, Big Data
66

67. 2c. Robot ARM – Object Manipulation
Arm Control
• Forward Kinematics
• Inverse Kinematics
• 𝑋2 = 𝐿1 cos 𝜃1
• 𝑌2 = 𝐿1 sin 𝜃1
• 𝑋3 = 𝑋2 + 𝐿2 cos 𝜃1 + 𝜃2
• 𝑌3 = 𝑌2 + 𝐿2 sin 𝜃1 + 𝜃2
• 𝑋 𝐸 = 𝑋3 + 𝐿3 cos 𝜃1 + 𝜃2 + 𝜃3
• 𝑌𝐸 = 𝑌3 + 𝐿3 sin 𝜃1 + 𝜃2 + 𝜃3
• ∅ 𝐸 = 𝜃1 + 𝜃2 + 𝜃3
67

68. 2c. Robot ARM – Object Manipulation
68
http://wiki.ros.org/turtlebot_block_manipulation
Object Manipulation

69. Home Service Robot DIY
a. Robot LEG
– Autonomous Navigation
b. Robot EYES
– Visual Perception
c. Robot ARM
– Object Manipulation
d. Robot MOUTH
– Human-Robot Interaction
e. Robot BRAIN
– AI, Machine Learning,
Cloud Computing, Big Data
69

70. 2d. Robot MOUTH – Human-Robot Interaction
• Speech Synthesis
(Text-to-Speech)
– Festival, ROS
sound_play
• Speech Recognition
(offline)
– CMUSphinx, ROS
Pocketsphinx
• Speech Recognition
(online)
– XunFei, Web
Speech API
• Facial Expression by
Emoticon
70

71. Home Service Robot DIY
a. Robot LEG
– Autonomous Navigation
b. Robot EYES
– Visual Perception
c. Robot ARM
– Object Manipulation
d. Robot MOUTH
– Human-Robot Interaction
e. Robot BRAIN
– AI, Machine Learning,
Cloud Computing, Big Data
71

72. 2e. Robot BRAIN – AI, Machine Learning, Cloud
Computing, Big Data
• Deep learning and Caffe Face and Gender Recognition
72
[http://adilmoujahid.com/posts/2016/06/introduction-deep-learning-python-caffe/]

73. 2e. Robot BRAIN – AI, Machine Learning, Cloud
Computing, Big Data
• Person recognition result in RoboCup 2016
73

74. 2e. Robot BRAIN – AI, Machine Learning, Cloud Computing, Big Data
74
Client Systems
Robot Learning
Knowledge
Transfer
Cloud System
• Processing Servers
• Databases
?

75. Take-Home Messages
1. Prologue: Team KameRider
 “It works!”
2. RoboCup@Home EDUCATION Initiative
a. Education Challenge
 “Let’s organize together at your region!”
b. Educational Open Robot Platforms
 “Give everyone a robot!”
c. Outreach Programs
 “Bring us to your community!”
3. Home Service Robot DIY
 “Everyone can learn AI and Robotics!”

76. Thank you!
www.RoboCupatHomeEDU.org
Supported by:
iHR研究専門委員会