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Institute of Perception, Action and Behaviour (IPAB) Director: Prof. Sethu Vijayakumar. Anthropomorphic Robotics (Sethu Vijayakumar and Subramanian Ramamoorthy) Biomimetic Robotics (Barbara Webb) Graphics and Animation (Taku Komura) - PowerPoint PPT Presentation
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www.inf.ed.ac.uk
Institute of Perception, Action and Behaviour (IPAB)Director: Prof. Sethu Vijayakumar
• Anthropomorphic Robotics (Sethu Vijayakumar and Subramanian Ramamoorthy)
• Biomimetic Robotics (Barbara Webb)
• Graphics and Animation (Taku Komura)
• Multiagent Systems (Subramanian Ramamoorthy and Michael Herrmann)
• Computer Vision (Bob Fisher)
• Computational Motor Control (Sethu Vijayakumar)
…and there are many cross connections between these areas…
IPAB Research Areas and Strengths
Machine Learning for Adaptive Control• Data-driven Machine
Learning methods in Sensing, Planning and Control of Robotic Systems are key for:
– Scalability to large degrees of freedom
– Enabling adaptation
Controller Biomechanical Plant
Sensory ApparatusEstimator
Motor Command
Sensory Data
Noise
Noise
1) EMG control
2) Robotics
3) Sensors
4) Feedback
Sensing and Feedback:Novel ways of learning sensory-motor associations and using this to provide effective feedback for use in prosthetics
In collaboration with Touch Bionics
Anthropomorphic Robotics
Planning for ScalabilityNew algorithms for planning under redundancy and dealing with variable stiffness and damping.Novel ways of transferring behaviour across heterogeneous plants
Dynamics Learning and ActuationDevelopment of novel actuators. Online learning of dynamics and exploiting natural dynamics in energetically explosive tasks.
In collaboration with DLR, Germany and HONDA
Machine Learning for Adaptive Control
Anthropomorphic Robotics
• Innovative 3D video sensor specifications and applications
• 25 frames/second 3D + colour: 3D head modeling
• 8 Mpixel 3D + colour: skin cancer segmentation and diagnosis
• 500 frames/sec 3D + infrared: bat acoustic behaviour analysis
Sensors and Algorithms
Cosine shading Texture Mapped
Online Educational resources:
• CVonline + HIPR• 700K direct accesses
Computer Vision
• Replicating auditory, visual and tactile sensing systems of insects
• Algorithmic and neural models of multimodal processing in insect brains, implemented on robots
• Novel and influential methodology
Biomimetic Robotics
Recent focus on:
• Navigation capabilities
• Learning circuits
Understanding sensorimotor control
Motion planning for multiple characters • Need to avoid collisions / penetrations• New representation of movements based on
spatial relationships
Simulating Interactions in cooperative / competitive environments
• The characters need to learn how to collaborate or compete with human player
• Game theory, reinforcement learning
Interactive CharactersGraphics and Animation
Neurorobotics
Self organisation of • Criticality in neural networks• Behaviour in robots
• General principle for exploratory control for robots with various bodies + guidance by external goals
• Applied to bootstrap control in transradial hand prostheses
Humanoid robotics, esp. locomotion, manipulation
Reactive control with layered models & multiple representations
Multi-robot systems, e.g., RoboCup
Strategic interaction with adversaries despite imprecise model knowledge
Complex electronic markets
Novel strategies and models for dealing with regime switches and extended uncertainty
Robust Autonomy and Multiagent Systems
Autonomous decision making over time needing interaction with
• complex dynamics• richly structured spaces• continual & large changes• other strategic agents and
adversaries
• Microsoft, HONDA (Robot Learning) • Autodesk, Namco Bandai, Blackrock Studio
(Animation and Computer Games) • AIST Japan (Car design)• RIKEN• ATR (Computational Motor Contol)• Touch Bionnics (Prosthetics)
Collaborations and OutreachIndustries, Research Labs