1. Meng Cheng Lau. Betty: A Portrait Drawing Humanoid Robot Using Torque Feedback and Image-based Visual Servoing. PhD thesis, Department of Computer Science, University of Manitoba, Winnipeg, Canada, April 2014. Abstract:

   Integrating computer vision into a robotic system can provide a closed-loop controlled platform that increases the robustness of a robot's motion. This integration is also known as visual servo control or visual servoing. Visual servoing of a robot manipulator in real-time presents complex engineering problems with respect to both control and image processing particularly when we want the robot arm to perform complicated tasks such as portrait drawing. In my research, the implementation of torque feedback control and Image-based Visual Servoing (IBVS) approaches are proposed to improve previous open-loop portrait drawing tasks performed by Betty, a humanoid robot in the Autonomous Agent Lab, University of Manitoba. The implementations and evaluations of hardware, software and kinematic models are discussed in this document. I examined the problem of estimating ideal edges joining points in a pixel reduction image for an existing point-to-point portrait drawing humanoid robot, Betty. To solve this line drawing problem, two automatic sketch generators are presented. First, a modied Theta-graph, called Furthest Neighbour Theta-graph (FNTG). Second, an extension of the Edge Drawing Lines algorithm (EDLines), called Extended Edge Drawing Lines (eEDLines). The results show that the number of edges in the resulting drawing is signicantly reduced without degrading the detail of the output image. The other objective of this research is to propose the extension of the drawing robot project to further develop a robust visual servoing system for Betty to correct any drawing deviation in real-time as a human does. This is achieved by investigating and developing robust feature (lines and shading) extraction approaches for real-time feature tracking of IBVS in combination with adequate torque feedback in the drawing task.

   
   

   @phdthesis{LauThesis,
   author = {Meng Cheng Lau},
   title = {Betty: A Portrait Drawing Humanoid Robot Using Torque Feedback and Image-based Visual Servoing},
   school = {Department of Computer Science, University of Manitoba},
   year = {2014},
   address = {Winnipeg, Canada},
   month = {April},
   pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/MCLauPhDThesis.pdf},
   abstract = {Integrating computer vision into a robotic system can provide a closed-loop controlled platform that increases the robustness of a robot's motion. This integration is also known as visual servo control or visual servoing. Visual servoing of a robot manipulator in real-time presents complex engineering problems with respect to both control and image processing particularly when we want the robot arm to perform complicated tasks such as portrait drawing. In my research, the implementation of torque feedback control and Image-based Visual Servoing (IBVS) approaches are proposed to improve previous open-loop portrait drawing tasks performed by Betty, a humanoid robot in the Autonomous Agent Lab, University of Manitoba. 
   
   The implementations and evaluations of hardware, software and kinematic models are discussed in this document. I examined the problem of estimating ideal edges joining points in a pixel reduction image for an existing point-to-point portrait drawing humanoid robot, Betty. To solve this line drawing problem, two automatic sketch generators are presented. First, a modied Theta-graph, called Furthest Neighbour Theta-graph (FNTG). Second, an extension of the Edge Drawing Lines algorithm (EDLines), called Extended Edge Drawing Lines (eEDLines). The results show that the number of edges in the resulting drawing is signicantly reduced without degrading the detail of the output image. 
   
   The other objective of this research is to propose the extension of the drawing robot project to further develop a robust visual servoing system for Betty to correct any drawing deviation in real-time as a human does. This is achieved by investigating and developing robust feature (lines and shading) extraction approaches for real-time feature tracking of IBVS in combination with adequate torque feedback in the drawing task.} 
   }
   




2. Jonathan Bagot. Single-Query Robot Motion Planning using Rapidly Exploring Random Trees (RRTs). Master's thesis, Department of Computer Science, University of Manitoba, Winnipeg, Canada, August 2014. Abstract:

   Robots moving about in complex environments must be capable of determining and performing difficult motion sequences to accomplish tasks. As the tasks become more complicated, robots with greater dexterity are required. An increase in the number of degrees of freedom and a desire for autonomy in uncertain environments with real-time requirements leaves much room for improvement in the current popular robot motion planning algorithms. In this thesis, state of the art robot motion planning techniques are surveyed. A solution to the general movers problem in the context of motion planning for robots is presented. The proposed robot motion planner solves the general movers problem using a sample-based tree planner combined with an incremental simulator. The robot motion planner is demonstrated both in simulation and the real world. Experiments are conducted and the results analyzed. Based on the results, methods for tuning the robot motion planner to improve the performance are proposed.

   
   

   @mastersthesis{bagotThesis,
   author = {Jonathan Bagot},
   title = {Single-Query Robot Motion Planning using Rapidly Exploring Random Trees (RRTs)},
   school = {Department of Computer Science, University of Manitoba},
   year = {2014},
   address = {Winnipeg, Canada},
   month = {August},
   pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/BagotMScThesis.pdf},
   abstract = {Robots moving about in complex environments must be capable of determining and performing difficult motion sequences to accomplish tasks. As the tasks become more complicated, robots with greater dexterity are required. An increase in the number of degrees of freedom and a desire for autonomy in uncertain environments with real-time requirements leaves much room for improvement in the current popular robot motion planning algorithms. In this thesis, state of the art robot motion planning techniques are surveyed. A solution to the general movers problem in the context of motion planning for robots is presented. The proposed robot motion planner solves the general movers problem using a sample-based tree planner combined with an incremental simulator. The robot motion planner is demonstrated both in simulation and the real world. Experiments are conducted and the results analyzed. Based on the results, methods for tuning the robot motion planner to improve the performance are proposed.} 
   }
   

1. Chris Iverach-Brereton, Jacky Baltes, John Anderson, Andrew Winton, and Diana Carrier. Gait Design for an Ice Skating Humanoid Robot. Robotics and Autonomous Systems, 62(3):306-318, 2014. Abstract:

   Basic walking gaits are a common building block for many activities in humanoid robotics, such as robotic soccer. The nature of the walking surface itself also has a strong affect on an appropriate gait. Much work is currently underway in improving humanoid walking gaits by dealing with sloping, debris-filled, or otherwise unstable surfaces. Travel on slippery surfaces such as ice, for example, greatly increases the potential speed of a human, but reduces stability. Humans can compensate for this lack of stability through the adaptation of footwear such as skates, and the development of gaits that allow fast but controlled travel on such footwear. This paper describes the development of a gait to allow a small humanoid robot to propel itself on ice skates across a smooth surface, and includes work with both ice skates and inline skates. The new gait described in this paper relies entirely on motion in the frontal plane to propel the robot, and allows the robot to traverse indoor and outdoor ice surfaces more stably than a classic inverted pendulum-based walking gait when using the same skates. This work is demonstrated using Jennifer, a modified Robotis DARwIn-OP humanoid robot with 20 degrees of freedom.

   
   

   @article{GaitDesignIceSkating14,
   author = {Chris Iverach-Brereton and Jacky Baltes and John Anderson and Andrew Winton and Diana Carrier},
   title = {Gait Design for an Ice Skating Humanoid Robot},
   journal = {Robotics and Autonomous Systems},
   year = {2014},
   volume = {62},
   number = {3},
   pages = {306--318},
   pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/GaitDesignIceSkating14.pdf},
   abstract = { Basic walking gaits are a common building block for many activities in humanoid robotics, such as robotic soccer. The nature of the walking surface itself also has a strong affect on an appropriate gait. Much work is currently underway in improving humanoid walking gaits by dealing with sloping, debris-filled, or otherwise unstable surfaces. Travel on slippery surfaces such as ice, for example, greatly increases the potential speed of a human, but reduces stability. Humans can compensate for this lack of stability through the adaptation of footwear such as skates, and the development of gaits that allow fast but controlled travel on such footwear. This paper describes the development of a gait to allow a small humanoid robot to propel itself on ice skates across a smooth surface, and includes work with both ice skates and inline skates. The new gait described in this paper relies entirely on motion in the frontal plane to propel the robot, and allows the robot to traverse indoor and outdoor ice surfaces more stably than a classic inverted pendulum-based walking gait when using the same skates. This work is demonstrated using Jennifer, a modified Robotis DARwIn-OP humanoid robot with 20 degrees of freedom. } 
   }
   

1. Jacky Baltes, Amirhossein Hosseinmemar, Joshua Jung, Soroush Sadeghnejad, and John Anderson. Practical Real-Time System for Object Counting based on Optical Flow. In Proceedings of the 3rd International Conference on Robot Intelligence Technology and Applications, Beijing, China, November 2014. Abstract:

   This paper describes a simple and effective system for counting the number of objects that move through a region of interest. In this work, we focus on the problem of counting the number of people that are entering or leaving an event. We design a pedestrian counting system that uses a dense optical flow field to calculate the integral of the optical flow in a video sequence. The only parameter used in the system is the the estimated integral flow for a single person. This parameter can be easily calculated from a short training sequence. Empirical evaluations show that the system is able to provide accurate estimates even for complex sequences in real-time. The described system won 2nd place in the pedestrian counting computer vision competition at the IEA-AIE 2014 conference.

   
   

   @inproceedings{BaltesObjectCounting14,
   author = {Jacky Baltes and Amirhossein Hosseinmemar and Joshua Jung and Soroush Sadeghnejad and John Anderson},
   title = {Practical Real-Time System for Object Counting based on Optical Flow},
   booktitle = {Proceedings of the 3rd International Conference on Robot Intelligence Technology and Applications},
   address = {Beijing, China},
   month = {November},
   pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/BaltesObjectCounting14.pdf},
   year = {2014},
   abstract = {This paper describes a simple and effective system for counting the number of objects that move through a region of interest. In this work, we focus on the problem of counting the number of people that are entering or leaving an event. We design a pedestrian counting system that uses a dense optical flow field to calculate the integral of the optical flow in a video sequence. The only parameter used in the system is the the estimated integral flow for a single person. This parameter can be easily calculated from a short training sequence. Empirical evaluations show that the system is able to provide accurate estimates even for complex sequences in real-time. The described system won 2nd place in the pedestrian counting computer vision competition at the IEA-AIE 2014 conference.} 
   }
   




2. Jacky Baltes, Chris Iverach-Brereton, and John Anderson. Human Inspired Control of a Small Humanoid Robot in Highly Dynamic Environments, or Jimmy Darwin Rocks the Bongo Board. In R.A.C. Bianchi, H. L. Akin, S. Ramamoorthy, and K. Sugiura, editors, RoboCup 2014: Robot World Cup XVIII, Joao Pessoa, Brazil, July 2014. Abstract:

   This paper describes three human-inspired approaches to balancing in highly dynamic environments. In this particular work, we focus on balancing on a Bongo board - a common device used for human balance and coordination training - as an example of a highly dynamic environment. The three approaches were developed to overcome limitations in robot hardware. Starting with an approach based around a simple PD controller for the centre of gravity, we then move to a hybrid control mechanism that uses a predictive control scheme to overcome limitation in sensor sensitivity, noise, latency, and jitter. Our third control approach attempts to maintain a dynamically stable limit cycle rather than a static equilibrium point, in order to overcome limitations in the speed of the actuators. The humanoid robot Jimmy is now able to balance for several seconds and can compensate for external disturbances (e.g., the Bongo board hitting the table). A video of the robot Jimmy balancing on the Bongo board can be found at http://www.youtube.com/watch?v=ia2ZYqqF-lw .

   
   

   @inproceedings{HumanInspiredControl14,
   author = {Jacky Baltes and Chris Iverach-Brereton and John Anderson},
   title = {Human Inspired Control of a Small Humanoid Robot in Highly Dynamic Environments, or Jimmy Darwin Rocks the Bongo Board},
   booktitle = {RoboCup 2014: Robot World Cup XVIII},
   editor = {R.A.C. Bianchi and H. L. Akin and S. Ramamoorthy and K. Sugiura},
   address = {Joao Pessoa, Brazil},
   month = {July},
   pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/HumanInspiredControl14.pdf},
   year = {2014},
   abstract = {This paper describes three human-inspired approaches to balancing in highly dynamic environments. In this particular work, we focus on balancing on a Bongo board - a common device used for human balance and coordination training - as an example of a highly dynamic environment. The three approaches were developed to overcome limitations in robot hardware. Starting with an approach based around a simple PD controller for the centre of gravity, we then move to a hybrid control mechanism that uses a predictive control scheme to overcome limitation in sensor sensitivity, noise, latency, and jitter. Our third control approach attempts to maintain a dynamically stable limit cycle rather than a static equilibrium point, in order to overcome limitations in the speed of the actuators. The humanoid robot Jimmy is now able to balance for several seconds and can compensate for external disturbances (e.g., the Bongo board hitting the table). A video of the robot Jimmy balancing on the Bongo board can be found at http://www.youtube.com/watch?v=ia2ZYqqF-lw .} 
   }
   




3. Chris Iverach-Brereton, Jacky Baltes, Brittany Postnikoff, Diana Carrier, and John Anderson. Fuzzy Logic Control of a Humanoid Robot on Unstable Terrain. In R.A.C. Bianchi, H. L. Akin, S. Ramamoorthy, and K. Sugiura, editors, RoboCup 2014: Robot World Cup XVIII, Joao Pessoa, Brazil, July 2014. Abstract:

   This paper describes a novel system for enabling a humanoid robot to balance on highly dynamic terrain using fuzzy logic. We evaluate this system by programming Jimmy, a small, humanoid DARwIn-OP robot, to balance on a bongo board - a simple apparatus consisting of a deck resting on a free-rolling wheel - using our novel fuzzy logic system and a PID controller based on our previous work (Baltes et al. [1]). Both control algorithms are tested using two different control policies: "do the shake", wherein the robot attempts to keep the bongo board's deck level by CoM manipulation; and "Let's Sway", wherein the robot pumps its legs up and down at regular intervals in an attempt to induce a state of dynamic stability to the system. Our experiments show that fuzzy logic control is equally capable to PID control for controlling a bongo board system.

   
   

   @inproceedings{HumanInspiredControl14,
   author = {Chris Iverach-Brereton and Jacky Baltes and Brittany Postnikoff and Diana Carrier and John Anderson},
   title = {Fuzzy Logic Control of a Humanoid Robot on Unstable Terrain},
   booktitle = {RoboCup 2014: Robot World Cup XVIII},
   editor = {R.A.C. Bianchi and H. L. Akin and S. Ramamoorthy and K. Sugiura},
   address = {Joao Pessoa, Brazil},
   month = {July},
   pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/FuzzyLogicControl14.pdf},
   year = {2014},
   abstract = {This paper describes a novel system for enabling a humanoid robot to balance on highly dynamic terrain using fuzzy logic. We evaluate this system by programming Jimmy, a small, humanoid DARwIn-OP robot, to balance on a bongo board - a simple apparatus consisting of a deck resting on a free-rolling wheel - using our novel fuzzy logic system and a PID controller based on our previous work (Baltes et al. [1]). Both control algorithms are tested using two different control policies: "do the shake", wherein the robot attempts to keep the bongo board's deck level by CoM manipulation; and "Let's Sway", wherein the robot pumps its legs up and down at regular intervals in an attempt to induce a state of dynamic stability to the system. Our experiments show that fuzzy logic control is equally capable to PID control for controlling a bongo board system. } 
   }
   




4. Meng Cheng Lau, Chi-Tai Cheng, Jacky Baltes, and John Anderson. Drawing Pressure Estimation Using Torque Feedback Control Model of A 4-DOF Robotic Arm. In Proceedings of the 3rd International Conference on Robot Intelligence Technology and Applications, Beijing, China, November 2014. Abstract:

   In this paper we introduce a torque feedback control (TFC) model to estimate pressure of the hand on a 4-DOF robotic arm of Betty, a humanoid robot. Based on several preliminary experiments of different stroke patterns, we measured and analysed the torque replies of Betty's servos in order to model the torque feedback. We developed a robust humanoid system to create sketch-like drawing with limited hardware which has no force sensor but basic torque feedback from servos to estimate the pressure applied on a drawing pad. We investigated the efficiency of different stroke patterns. The experimental results indicate that the TFC model successfully corrected the errors during the drawing task.

   
   

   @inproceedings{LauDrawingPressure14,
   author = {Meng Cheng Lau and Chi-Tai Cheng and Jacky Baltes and John Anderson},
   title = {Drawing Pressure Estimation Using Torque Feedback Control Model of A 4-DOF Robotic Arm},
   booktitle = {Proceedings of the 3rd International Conference on Robot Intelligence Technology and Applications},
   address = {Beijing, China},
   month = {November},
   pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/LauDrawingPressure14.pdf},
   year = {2014},
   abstract = {In this paper we introduce a torque feedback control (TFC) model to estimate pressure of the hand on a 4-DOF robotic arm of Betty, a humanoid robot. Based on several preliminary experiments of different stroke patterns, we measured and analysed the torque replies of Betty's servos in order to model the torque feedback. We developed a robust humanoid system to create sketch-like drawing with limited hardware which has no force sensor but basic torque feedback from servos to estimate the pressure applied on a drawing pad. We investigated the efficiency of different stroke patterns. The experimental results indicate that the TFC model successfully corrected the errors during the drawing task.} 
   }
   




5. Geoff Nagy, Jacky Baltes, Andrew Winton, and John Anderson. An Event-Driven Operating System for Servomotor Control. In R.A.C. Bianchi, H. L. Akin, S. Ramamoorthy, and K. Sugiura, editors, RoboCup 2014: Robot World Cup XVIII, Joao Pessoa, Brazil, pages 285-294, July 2014. Abstract:

   Control of a servomotor is a challenging real-time problem. The embedded microcontroller is responsible for fast and precise actuation of the motor shaft, and must handle communication with a master controller as well. If additional tasks such as temperature monitoring are desirable, they must take place often enough to be useful, but not so frequently that they interfere with the operation of the servo. Since microcontrollers have limited multi-tasking capabilities, it becomes difficult to perform all of these tasks at once. It was our goal to create servo firmware with high communication speeds for humanoid robots, and our solution is generalizable to non-humanoid motor control as well. In this paper, we present an event-driven operating system for the Robotis AX-12 servomotor. By using interrupts to drive functionality that would otherwise require polling, our operating system meets the real-time constraints associated with controlling a servomotor.

   
   

   @inproceedings{NagyRoboCup14,
   author = {Geoff Nagy and Jacky Baltes and Andrew Winton and John Anderson},
   title = {An Event-Driven Operating System for Servomotor Control},
   booktitle = {RoboCup 2014: Robot World Cup XVIII},
   editor = {R.A.C. Bianchi and H. L. Akin and S. Ramamoorthy and K. Sugiura},
   address = {Joao Pessoa, Brazil},
   month = {July},
   pages = {285--294},
   pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/NagyRoboCup14.pdf},
   year = {2014},
   abstract = {Control of a servomotor is a challenging real-time problem. The embedded microcontroller is responsible for fast and precise actuation of the motor shaft, and must handle communication with a master controller as well. If additional tasks such as temperature monitoring are desirable, they must take place often enough to be useful, but not so frequently that they interfere with the operation of the servo. Since microcontrollers have limited multi-tasking capabilities, it becomes difficult to perform all of these tasks at once. It was our goal to create servo firmware with high communication speeds for humanoid robots, and our solution is generalizable to non-humanoid motor control as well. In this paper, we present an event-driven operating system for the Robotis AX-12 servomotor. By using interrupts to drive functionality that would otherwise require polling, our operating system meets the real-time constraints associated with controlling a servomotor. } 
   }
   




6. Mohsen Tamiz, Ebrahim Bararian, Taher Abbas Shangari, Mojtaba Karimi, Mohammad Hosein Heydari, Faraz Shamshirdar, Majid Jegarian, Ali TorabiParizi, Mehran Ahmadi, Shayan Khorsandi, Sourosh Sadeghnejad, Saeed Shiry Ghidary, Mohsen Bahrami, Amirhossein Hosseinmemar, Andrew Winton, Joshua Jung, Chris Iverach-Brereton, Geoff Nagy, Diana Carrier, John Anderson, and Jacky Baltes. AUT-UofM Humanoid TeenSize Team. In Proceedings of RoboCup-2014 (Team Description Papers), Joao Pessoa, Brazil, July 2014.
   

   @inproceedings{RoboCup14TDP,
   author = {Mohsen Tamiz and Ebrahim Bararian and Taher Abbas Shangari and Mojtaba Karimi and Mohammad Hosein Heydari and Faraz Shamshirdar and Majid Jegarian and Ali TorabiParizi and Mehran Ahmadi and Shayan Khorsandi and Sourosh Sadeghnejad and Saeed Shiry Ghidary and Mohsen Bahrami and Amirhossein Hosseinmemar and Andrew Winton and Joshua Jung and Chris Iverach-Brereton and Geoff Nagy and Diana Carrier and John Anderson and Jacky Baltes},
   title = {AUT-UofM Humanoid TeenSize Team},
   booktitle = {Proceedings of RoboCup-2014 (Team Description Papers)},
   address = {Joao Pessoa, Brazil},
   month = {July},
   pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/RoboCup14TDP},
   year = {2014} 
   }
   

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