Here are a few photos taken during the Haptics Class Project Demonstrations on April 27, 2012.
Teaching Nao to Color: A Haptic Skill Learning ProblemHaptic interfaces may help humans teach machines fine motor tasks without the need for hard-coded joint angles or torques. In order to explore this concept and its applications, the force and position data from a Phantom Omni haptic device have been used to teach Aldebaran's humanoid Nao robot to color using different drawing utensils. Since different utensils require different amounts of force to make a clean mark, the Nao has to learn to use each one separately. Since Aldebaran includes a software toolbox that handles Nao's inverse kinematics, the coloring problem can be reduced to a 1-dimensional learning task concerned only with normal force or (for the force-oblivious Nao) distance. Using visual feedback, the Omni operator should be able to see the quality of the mark being drawn by the Nao in real time, and adjust his or her normal distance accordingly. After training, the Nao should be able to complete similar tasks on its own.