Segway RMP Project at the Center for Intelligent Systems

The focus of this project is to explore multi-robot collaboration. Currently, much of our research efforts have been centered on the creation of a cognitive robot capable of basic reasoning and decision-making, resulting in the creation of the humanoid ISAC (Intelligent Soft Arm Control). This project seeks to extend on this work by bestowing ISAC with the ability to decide when it should request help from a human or robot.



Figure 3: The Segway RMP assisting ISAC



Figure 4: ISAC grabbing the Barney from the RMP

To this end, we plan on establishing relationship between ISAC and the Segway RMP. It is our intention to teach ISAC that if it is asked to work with an item that is not currently in his workspace, he should recognize this fact and, instead of immediately responding that the task cannot be accomplished, it should query other known robots to see if they know where the object is. In our case, if the item is on the Segway RMP, ISAC should request that the Segway RMP bring the object into its workspace.

This will be accomplished through the sharing of a memory structure known as the Sensory Ego Sphere, or SES. This memory structure consists of a geodesic dome representing all the percepts of the robot with respect to the angles of the robot's orientation. In this case, ISAC will use the SES information on the Segway to control the position and orientation of the Segway in order to gain access to a specific tool.

The Center for Intelligent Systems has already accomplished EgoSphere sharing with the use of the Landmark Egosphere (an egosphere designed to detect specific landmarks and store their positions using angular data) on mobile robots.