Speech and gesture understanding in a homeostatic control framework for a robotic chandelier
Name
62241770-MIT.pdf
Description
Full printable version
Size
7 MB
Format
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Checksum (MD5)
e55c297f14ddd7e0c97467371097e062
Author(s)
Juster, Joshua
Advisor(s)
Deb Roy.
Date Issued
2004
Publisher
Massachusetts Institute of Technology
Abstract
We describe a home lighting robot that uses directional spotlights to create complex lighting scenes. The robot senses its visual environment using a panoramic camera and attempts to maintain its target goal state by adjusting the positions and intensities of its lights. Users can communicate desired changes in the lighting environment through speech and gesture (e.g., "Make it brighter over there"). Information obtained from these two modalities are combined to form a goal, a desired change in the lighting of the scene. This goal is then incorporated into the system's target goal state. When the target goal state and the world are out of alignment, the system formulates a sensorimotor plan that acts on the world to return the system to homeostasis.
Description
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2004.
Includes bibliographical references (leaf 40).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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