Ken Goldberg IEOR and EECS, UC Berkeley

1. Ken Goldberg IEOR and EECS, UC Berkeley From Ouija to Tele-Actor: Collaborative Telepresence via the Internet

2. Outline • Telerobotics • Online Telerobots • Collaborative Telerobotics • Audience Simulation • Tele-Actor

3. Outline • History of Telerobotics • 4 projects • Collaboration models • Ouija 2000 • Robust Model • TeleAction

6. Telerobotics: Related Work • Goertz, ‘54 • Mosher, ‘64 • Tomovic, ‘69 • Salisbury,Bejczy, ‘85 • Ballard, ‘86 • Sheridan, ‘92 • Sato, ‘94 • Presence Journal ‘92- • O. Khatib, et al. ’96

19. A: B:

20. Federal Law, Title 18, Section 333: Whoever mutilates, cuts, defaces ... or does any other thing to any bank bill ...shall be fined or imprisoned. Do you, kim@aol.com, understand and wish to proceed? yes no

21. Irobot.com:

22. Reality Television

23. Jason: undersea telerobot

26. Control methods: … … Batch … MultiTask ? … Collaborative

34. Maze Following Experiment

35. Views with Noise:

36. Performance Time to complete maze (sec): 

37. Can collaboration improve performance? Consider n noisy inputs, xi, with common mean and std dev = . As the number of inputs increases, the noise in the average, x*, decreases with the square root of n:  * = n (Central Limit Theorem)

38. Modelling Collaborative Control

40. Genghis ’86: Brooks et al

41. Classical Control Architecture

42. Brooks’ SubsumptionArchitecture

43. “Sensor Fusion” Architecture

44. Collaborative Control Architecture

45. R. and L. Carpenter “Cinematrix” (1992)

46. A model of cinematrix Cursor on Shared Screen: Audience (2 groups): x y (x,y)

47. Cinematrix Simulator:

48. Cinematrix Control Model

49. Audience agent (FA)

50. x = [x + fx(x), y + fy(x)]T + x = [x, y]T Audience Response where: f : Q(x, y) x sgn(g(x, y)) {0, +1, -1} g(x, y) = x2 + y2 - r2