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Sumit Kumar Das, Ph.D.
About Me
Projects
ARNA
PKD
PR2
Robotic Prosthetic Arm
Sensors
Controls
Competetions
Micro-robotics
Amazon Picking Challenge
DJI Robomasters
Resume
Research
Publications
Patents
Contact Me
Sumit Kumar Das, Ph.D.
About Me
Projects
ARNA
PKD
PR2
Robotic Prosthetic Arm
Sensors
Controls
Competetions
Micro-robotics
Amazon Picking Challenge
DJI Robomasters
Resume
Research
Publications
Patents
Contact Me
More
About Me
Projects
ARNA
PKD
PR2
Robotic Prosthetic Arm
Sensors
Controls
Competetions
Micro-robotics
Amazon Picking Challenge
DJI Robomasters
Resume
Research
Publications
Patents
Contact Me
Philip K. Dick (PKD)
Overview
PKD is one of the predecessors of now famous
Sophia
robot.
Research concentrated on social robotics:
Mimicking facial expression.
Object tracking.
Neck-eye coordination.
Projects
Facial Expression Generation in PKD
Facial expressions generated using
Genetic Algorithm based training
Software Tools:
Faceshift
.NET Framework (C#)
Target: Generate human-like facial expressions.
Facial Expression Generation using Genetic Algorithm
Target Tracking by PKD with Multiple Cameras
Used two camera system to track people far away from the range of USB eye camera.
Microsoft Kinect was used as an external camera.
Pin-hole camera model used to localize identified target and transform to PKD's coordinate.
Programming Language:
C# (.NET framework)
Can be extended to multiple camera based system.
Neck-Eye Co-Ordination for PKD
Follow Donders' Law and Listing's Law of human head and eye movement to track targets.
Target tracking done through both external camera as well as the USB camera in the eye.
External Camera provides location for neck movement.
USB eye camera used for finer tracking and movement
A potential controller was implemented for motion.
Programming Language:
C# (.NET framework)
Mimic User Expressions
Facial expressions generated using
One-to-one expression mapping
Software Tools:
Faceshift
.NET Framework (C#)
Linear mapping of identified user expressions to drive robot's facial actuators.
ROS Package for PKD
Built a ROS package from scratch for PKD
Platform used:
Solidworks (to model PKD)
SW2URDF
ROS C++
Controlled Neck and Eye movements using a joystick
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