cbp 2003 robot lecture 21 sojourner 1996 mit kismet honda asimo 2003 navlab (cmu) why study robots...
TRANSCRIPT
CBP 2003 Robot lecture 2 1
Sojourner 1996
MIT Kismet
Honda Asimo 2003
NavLab (CMU)
Why Study Robots now?
CBP 2003 Robot lecture 2 2
Figure from ROBOT, Moravec, Oxford, 1998, Chapter 3: Power and Presence, page 68
AI
Moore’s Law - Computers and Brains
CBP 2003 Robot lecture 2 3
1. Robots are becoming commercially viable – need developers
2. Serious promise of Artificial Intelligence – needs researchers
3. Fundamental aspects :
1. Good vehicle for teaching programming …
2. Important analogy of each living being … the Self
3. Important analogy of societies … Communication
Why learn to program with Robots ?
N.B. we are thinking of Autonomous Robots
CBP 2003 Robot lecture 2 4
CBP 2003 Robot lecture 2 5
Human
Human Group
Robot
Robot Group
CBP 2003 Robot lecture 2 6
Affective Cognitive Psychomotoric
Human Qualities
FeelingsFeelings
Knowing
Knowing
EmotionsEmotions
ActingActing
Behaving
Behaving
ThinkingThinking
CBP 2003 Robot lecture 2 7
Wander
Behaviour Modules
SearchLight
Collision Idea is to split overal desired behaviour into a number of “modules” of program code which can run independently.
These may be arranged to have priorities
CBP 2003 Robot lecture 2 8
Rod Brookes + Cogs
CBP 2003 Robot lecture 2 9
Subsumption (Brookes)
Wander
s
Searchlight
Collide
s
s Motors
eyes
bumper
Behaviour Modules Combine by subsumption
Combining Behaviours
CBP 2003 Robot lecture 2 10
Motorssensors
Behaviour 1
Behaviour 2
Behaviour 3 s
s
s
(Autonomous Land Vehicle)
Internalized
Plans
There IS a global map !
DARPA ALV
CBP 2003 Robot lecture 2 11
Braitenberg (1984), Vehicles: Experiments in Synthetic Psychology, MIT Press.
CBP 2003 Robot lecture 2 12
lamp
RM
LM
Choice of Behaviour
Braitenberg Vehicles
Wander
Collide
SearchLight
CPU
Braitenberg
CBP 2003 Robot lecture 2 13
public void wander() { forever { wander_flag = true; wanderOpL = 10; wanderOpR = 10; muMonDefer(); } }
lamp
RM
LM
Behaviour Routines
Java Behaviour Routines
public void searchlight() { forever { if(eyeLF > eyeRF) { searchlight_flag = true; searchlightOpR = ??; searchlightOpL = ??; muMonSleep(100); searchlight_flag = false; } if(eyeLF > 0) {
eyeRF
eyeLF
Braitenberg
CBP 2003 Robot lecture 2 14
If the connections are not crossed, then it turns away from excitation – coward
Ipsilateral excitation
Two motors Two Dimensions
CBP 2003 Robot lecture 2 15
Uncrossed inhibitory connections (note the –sign) give ipsilateral inhibition:
Turns towards the light and slows down as it gets close
CBP 2003 Robot lecture 2 16
Brood Sorting The Emergence of Intelligence
Martijn Schut http://www.cs.vu.nl/~zos
robotpuck
CBP 2003 Robot lecture 2 17
Program the Robots explicitly to
• find an object
• take an object
• go back to cluster
• find a cluster
• drop an object
• How to do the programming ?
• Imagine doing the clearing up yourself !Problem is to get one (or more) autonomous robots to clear the junk into heaps …
CBP 2003 Robot lecture 2 18
Alternative
Program the robots to avoid things
CBP 2003 Robot lecture 2 19
Conclusions :
• Behaviour Emerges !
• Intelligence in the Indivudal or Group ?
CBP 2003 Robot lecture 2 20
• Messor Sancta ants
• 1,500 corpses
• 26 hours
• Put dead ants into graveyards by walking around bumping into them
CBP 2003 Robot lecture 2 21
Simulation
Sony Dog
MidSize
SmallSize
Humanoide
• Football as benchmark for AI advances
• Worldwide competitions since 1997
• Current Leagues
CBP 2003 Robot lecture 2 22