A service robot named Markovito

This is our initial version or our service robot named Markovito,
that is oriented to interact with humans.

The main goal of Markovito is to deliver messages and objects between offices under a user request.
When the system starts the robot tries to find its global position using natural landmarks of the enviroment­. ­
He uses a probablistic grid map previously constructed by him.
In order to do so, Markovito uses Player/Stage pmap tool that is based on particle filtering.
The map considers fusion of sonars and laser readings.
Once his has received the proper commands Markovito navigates to reach the receiver's position.

His communication abilities include speech synthesis and recognition in Spanish, and face detection
(OpenCV libraries).

Markovito has four main modules: i) navigation, localization and obstacle avoidance
ii) speech recognition (although as usual, it fails sometimes) and synthesis,
iii) face detection and iv) object manipulation.
These modules are controlled following a policiy obtained using Factored Markov decision processes,
specifically with the SPUDD algorithm.
The system considers 13 binary state variables and 14 accions.

In this video we show some photographs taken from an interview
with Eduardo Morales and with Enrique Sucar for TvAzteca México.

Team:

1) Name: Hector Hugo Aviles-Arriaga
Affiliation: Instituto Nacional de Astrofisica, Optica y Electronica
hector_hugo_aviles@hotmail.com,
haviles@inaoep.mx (until August 2007)

2) Name: Elva Corona-Xelhuantzi
Affiliation: Instituto Nacional de Astrofisica, Optica y Electronica
elvacx@inaoep.mx

3) Name: Victor Manuel Jaquez Leal
Affiliation: Tec de Monterrey Campus Cuernavaca
ceyusa@gmail.com

4) Name: Sergio Hernandez
Affiliation: Tec de Monterrey Campus Cuernavaca

5) Name: Eduardo Morales
Affiliation: Instituto Nacional de Astrofisica, Optica y Electronica
emorales@inaoep.mx

6) Name: Enrique Sucar
Affiliation: Instituto Nacional de Astrofisica, Optica y Electronica
esucar@inaoep.mx

We would like to thank Luis Villaseñor and Alejandro Reyes for the facilities and support
with the Sphinx2 libraries and speech models in Spanish.

More information of this work:
A flexible service robot named Markovito. L. E. Sucar, E. F. Morales, H. H. Avilés.
Workshop on Service Robots, 6th Mexican International Conference on Artificial Intelligence (MICAI'07). 2007.

Category:

Film & Animation

Tags:

• mobile
• service
• robot
• natural
• human
• iteraction
• factored
• Markov
• decision
• processes

[Gerardosalasp]

Muy bueno, muy bueno

[pinkipons]

Hola!

Bravo por Markovito y Etor :)

[frasa23]

hey ke onda Hector!!!

soy tu prima Sandra Avilés esta muy padre eso de tu robot mmmm ke mas decirte.... espero estar en contacto contigo mas seguido ok????

mmm podrias pasarme tu correo electronico

[dotz2910]

Hooo, que gran trabajo, felicidades!!!

[ceyusa]

¡Excelente Héctor! ¡Felicidades!