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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
1

Social robots powered by IBM Watson as a support for children with health problems

Kabir, Isak, Kindvall, Kalle January 2017 (has links)
Over the last few years, there has been a growing interest for social robots withhuman-like behavior and their application in healthcare and education. However,there are still plenty of issues that needs to be resolved. One of these challenges isto enable the social robots to fill its role effectively, by creating engagement. In this report the study, that was conducted at IBM Sweden, aims to understandhow IBM Watson can be utilized in the Pepper robot; to engage and supportchildren from the Ronald McDonald House in Uppsala. This is a place for childrenwith health problems and their families to live temporarily. Furthermore, supportivebehaviors are investigated since such behaviors are suggested to be important toincrease the engagement. An initial prototype that used Watson's natural languageprocessing and Pepper, was developed based on user requirements gatheredthrough interviews using a User Centered Design methodology. The prototype wasiteratively developed, and a final evaluation was conducted that examined both theperception of the robot as well as the engagement it created. The evaluation showed that the children wanted to interact with the robot again andhighlighted that they were highly engaged. They perceived the robot as a friend andthe supportive behaviors such as giving praise, responding quickly and maintainingeye contact were most important. The main support the children wanted were tohelp them feel less lonely and the conclusion of this study is that this is a suitablegoal for a robot system.
2

Localisation et navigation d’un robot humanoïde en environnement domestique / Localization and navigation of a humanoid robot in a domestic environment

Wirbel, Émilie 07 October 2014 (has links)
Cette thèse traite du problème de la localisation et de la navigation de robots humanoïdes à bas coût dans un environnement dynamique non contraint. Elle a été réalisée en collaboration entre le laboratoire de robotique CAOR de Mines ParisTech et Aldebaran, dont les robots NAO et Pepper sont utilisés comme plateformes.On verra ici comment il est possible de déduire des informations d'orientation et de position du robot malgré les fortes contraintes de puissance de calcul, de champ de vision et de généricité de l'environnement. L'environnement est représenté sous une forme topologique : les lieux sont stockés dans des nœuds, reliés par des transitions. On apprend l'environnement dans une phase préalable permettant de construire une référence. Les contributions principales de la thèse reposent sur les méthodes de calcul de l'orientation et d'une mesure de position du robot à l'aide des caméras monoculaires à faible champ de vision,et leur intégration dans une structure topologique. Pour se localiser dans le graphe, on utilise principalement les données de vision fournies par les caméras monoculaires du robot, tout en laissant la possibilité de compléter à l'aide de caméras 3D. Les différentes méthodes de localisation sont combinées dans une structure hiérarchique qui permet à la fois d'améliorer la robustesse et de fusionner les données de localisation. Un contrôle de la trajectoire est également mis en place pour permettre d'effectuer de façon fiable les transitions d'un nœud à l'autre, et accessoirement fournir un système de retour pour la marche du robot.Les travaux de cette thèse ont été intégrés dans la suite logicielle d'Aldebaran, et testés intensivement dans différents environnements afin de valider les résultats obtenus et préparer une livraison aux clients. / This thesis covers the topic of low cost humanoid robots localization and navigation in a dynamic unconstrained environment. It is the result of a collaboration between the Centre for Robotics of Mines ParisTech and Aldebaran, whose robots, NAO and Pepper, are used as experimental platforms.We will describe how to derive information on the orientation and the position of the robot, under high constraints on computing power, sensor field of view and environment genericity. The environment is represented using a topological formalism : places are stored in vertices, and connected by transitions. The environment is learned in a preliminary phase, which allows the robot to construct a reference.The main contribution of this PHD thesis lies in orientation and approximate position measurement methods, based on monocular cameras with a restricted field of view, and their integration into a topological structure. To localize the robot in the robot, we use mainly data providing by the monocular cameras of the robot, while also allowing extensions, for example with a 3D camera. The different localization methods are combined into a hierarchical structure, which makes the whole process more robust and merges the estimations. A trajectory control has also been developped in order to transition accurately from one vertex to another, and incidently to provide a feedback on the walk of the robot.The results of this thesis have been integrated into Aldebaran software suite, and thoroughly tested in various conditions, in order to validate the conclusions and prepare a client delivery.

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