Chapter 8
Conclusions
Finally a system was realized that using an initial knowledge learns actions from the examples shown by the user and then chooses the best way to play them in harmony with its capabilities, its limitations and the current state of the environment. The system tries to be as robust as possible but we must take into account the physical limitations of the robot and overall dimensions that can be found in the environment such as if the object is located in an area not accessible, etc.
In particular, the vision module provides services to handling objects, markers and tracking the human and the cognitive module provides a “smart” decision maker for the management of the phases of execution and learning, flexible to variations of the environment and on the positions of objects on the tables.
The following are some pictures of the tests performed on the modules outlined above, used in combination with those of the control and navigation part.
Figure 8.1: Screenshots of a part of the learning phase of a set up table action; in particular, the robot goes to see the initial state of the table and the sink.
Figure 8.2: Screenshots of a part of the learning phase of a set up table action; in particular the user performs a place action of a bowl on the table and the robot receives the command to watch the table to see what has happened.
