Multimodal sensory pipeline for Interactive Robots
Millen van Osch (TU Delft - Electrical Engineering, Mathematics and Computer Science)
Roy Graafmans (TU Delft - Electrical Engineering, Mathematics and Computer Science)
Joost Broekens – Graduation committee member
Joachim de Greeff – Coach
Otto Visser – Mentor
Huijuan Wang – Mentor
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Abstract
Interactive Robotics aims to familiarize children with robotics, which they try to do with their RoboTutor. Towards this goal they developed a platform for controlling the robots but this platform only worked for the Nao robot and not for the Pepper robot.
So for our bachelor end project we have been asked to build a connection tunnel between the server and the Nao and Pepper robots so that it is possible to also use the Pepper robot.
As our research progressed however, it became more clear to us that in order to make a generic solution for both the robots the existing platform would not suffice. So instead of only creating the tunnel we also worked on a new server side solution.
the solution we came up with, virtualization, was sure to solve the problems that caused the Pepper robot to be incompatible with the current platform. By running the server side processes for each robot inside their own environment using Docker containers we where able to create a generic solution for both robots. And with some custom code on the robots themselves, we could ensure that the robots would always connect to the server if they where connected to the Internet.