SAIL Automatic
Mode
The SAIL robot can be launched in automatic mode simply by clicking
the 'Alive' button, although it won't perform any tasks until one of the
buttons on the button bar at the bottom of the screen is pressed. This causes
the communication software associated with the function chosen to be loaded
into memory. The 'All' button can be pressed to load all functions of the
robot simultaneously. The only feedback available to the user in automatic
mode (other than visually watching the robot perform and respond) are the
text messages which display in the message window. The reason for this is
to reduce the processing load of the user interface thereby freeing more
processing power for the robots functionality. The text in the message window
can be saved to a file or printed for diagnostic use. If more interface
feedback is desired for troubleshooting, the robot should be operated in
manual mode.
The function calls available for input and output communication with
the robot are listed below.
The main screen of the SAIL GUI looks like this: (you can click on the
bottom button bar for information on the functionality of each robot part)
Alive
This button is used to activate the SAIL robot. If it is not depressed,
the robot will not function in automatic mode. It is mutually exclusive
with the Asleep mode.
Asleep
This button turns the robot back off. It can be used as an emergency
stop as it shuts down communication with the robot down entirely. It is
mutually exclusive with the Alive mode.
Learn
This button toggles the SAIL learning mode on and off. If it is depressed
that the robot will learn as it operates. When it is unpressed, the robot
will operate with knowledge already gained but will perform no new learning.
All
This button turns all the functions of the robot simultaneously on or
off. To use individual portions of the robot, turn this button off (unpressed)
and then depress only the buttons you want to have functional.
Head
The head control offers the functionality of the eyes (video input).
It also controls the neck (turntable) and a height adjustment (torso). Additionally
the eyes (cameras) are mounted on individual pan-tilt units which allows
them to move independent of one another if desired. There are three separate
interfaces at work here. The pan-tilt units, the video input, and the neck
-torso adjustment. The pan tilt units
Listen
The listen control offers the functionality of the ears (audio input).
It determines the source of the sound (direction) as well trying to recognize
the word or sound and the speaker.
Speak
The speak control offers the functionality of a mouth (audio output).
It can perform as a text reader or may try to phonetically create realistic
dialog.
Move
The move control offers the functionality of the legs (locomotion).
It controls the movements of the robto base unit.
Reach
The reach control offers the functionality of the an arm. It can grasp
items and rotate them in a umber of different ways. The current arm on the
robot has joints correspondign to shoulder, elbow, and wrist joints. The
wrist joint can perform movements well beyond the human wrist.
NOTE:
As the SAIL project progresses and more functionality is added, this
page will be updated. Check back often for the latest information.