Task 1: Interactive Object Learning ++
Contributors (alphabetical order): (Alessandro, Lorenzo, Ugo, Vadim)
The interactive object learning demonstration could be improved in many ways:
Subtask 1.1: Add some human-robot interaction components
- Look around to gaze at people (Reza's work)
- Learn and recognize faces with a more natural robot interaction (Vadim's work)
Subtask 1.2: Smartphone in the loop
Contributors (alphabetical order): (Alessandro, Francesco R., Vadim) This also links to SubTask 3.2
- Speech analysis and send commands to the robot
- Object recognition
Task 2: Evaluate real-time extensions in complex motor control tasks
Contributors: Ali, Lorenzo, Silvio?, Francesco(?), Luca?, Enrico?
Robots: iCub & Coman
Subtask 2.1 Perform fine tuning of control loops in complex tasks using real-time extensions in YARP
Subtask 2.2 This discussion also involves the design and development of a real-time execution layer for the robotinterface
Task 3: Improve the platform as we know it
Subtask 3.1 Improve Gazebo Simulator
Add a full simulation of the eyes' system
The iCub Gazebo simulation is currently lacking a way of simulating the moving eyes of iCub.
Further details on this task can be found in https://github.com/robotology/gazebo-yarp-plugins/issues/149 .
Add a full simulation of the hands' system
The iCub Gazebo simulation is currently lacking a way of simulating the hands of the iCub.
Further details on this task can be found in https://github.com/robotology/gazebo-yarp-plugins/issues/197 .
Add world interface
iCub_SIM has an handy yarp RPC interface for creating/deleting objects.
It would be nice to have a similar interface in Gazebo, for more info please check https://github.com/robotology/gazebo-yarp-plugins/issues/159 .
Add Windows support
The latest version of Gazebo comes with (experimental) Windows support ( http://gazebosim.org/blog/gazebo_on_windows ).
We still did not try the gazebo-yarp-plugins on Windows, as probably this would require some work on how Gazebo is supporting the loading of external plugins. For more info please check https://github.com/robotology/gazebo-yarp-plugins/issues/74#issuecomment-102297508 .
Subtask 3.2 Smartphone in the loop
Contributors (alphabetical order): (Alessandro, Francesco R., Randazzo, Vadim)
YARPdroid will pave the way...
...and iOSYARP will try to keep up!
Task 4: Event-driven iCub development
Contributors (alphabetical order): (Arren, Chiara, Samantha, Valentina)
Subtask 4.1 Interactive iCub Demonstration
Incorporating recent work with event-driven Optical Flow and Ball tracking with existing iCub modules to perform the 'red-ball demo' using the event-driven cameras. Any coloured ball could be used. (collaboration with Alessandro/Ugo/Vadim?)
Subtask 4.2 Integration of iCub with SpiNNaker
Integrating the DVS event-based sensor with parallel event-based processing using the SpiNNaker hardware, for visual attention and control of the iCub
Task 5: Development for COMAN
Contributors (alphabetical order): (Enrico MH, Luca M)
Subtask 5.1 From Simulation to Real Robot
Develop simple tasks first in GAZEBO Simulator and then move to the real robot.
Subtask 5.2 Use OpenSoT in COMAN
Develop simple high level tasks involving OpenSoT and COMAN.
Subtask 5.3 Use OpenSoT in iCub
Develop simple high level tasks involving OpenSoT and iCub.