Učenje robota putem višemodalne interakcije

master's thesis

• Title (english): Teaching robot by multimodal interaction
• Author: Nikola Vitez
• Mentor: Bojan Jerbić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2017-07-20, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Ovaj diplomski rad istražuje mogućnosti učenja robota višemodalnom interakcijom čovjeka i robota koja podrazumijeva robotsku percepciju stanja okoline temeljem više vrsta senzora.

U radu je najprije opisan korišteni eksperimentalni postav, a zatim je ispitana mogućnost klasifikacije i prepoznavanja radnji pisanja i brisanja ploče. Klasifikacija radnji provedena je na temelju analize mjerenih podataka koji se prikupljaju iz inercijskog mjernog uređaja i vizijskog sustava Polaris Vicra. U drugom dijelu rada je razvijeno učenje robota brisanju na temelju prepoznavanja radnje brisanja razvijenim klasifikacijskim algoritmom te je implementiran primjer rada robotskog sustava na temelju jednostavne klasifikacije naučenih pokreta brisanja.

Abstract (english)

This master thesis explores the possibilities of robot learning by the multi-modal interaction of man and robot, which implies a robotic perception of the environment on the basis of several different types of sensors. In this paper, the experimental setup used was first described, and then the possibility of classifying and recognizing actions of writing and wiping off of whiteboard was examined. The classification of the actions was carried out on the basis of the analysis of measured data collected from the inertial measurement unit and the vision system Polaris Vicra. In the second part of the paper, learning a robot to wipe off the whiteboard has been developed based on the recognition of the action of wiping by a developed classification algorithm, futhermore an example of work of robotic system based on a simple classification of the learned movements during action of wiping is implemented.

• Keywords: robot; učenje; klasifikacija; inercijski mjerni uređaj; vizijski sustav
• Keywords (english): robot; learning; classification; inertial measurement unit; vision system
• Language: croatian
• URN:NBN: urn:nbn:hr:235:432610
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2019-05-22 19:36:36