chapter 8pages.cpsc.ucalgary.ca/.../slides/08-robotics.pdf8. robotics introduction 8.1 what are...
TRANSCRIPT
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Christian JacobChristian [email protected]
Department of Computer ScienceUniversity of Calgary
ChapterChapter 8 8
RoboticsRobotics————————————————————————————
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8.8. RoboticsRobotics
IntroductionIntroduction
8.18.1 What are Robots Good For?What are Robots Good For?
8.28.2 What are Robots Made Of?What are Robots Made Of?
8.38.3 ArchitecturesArchitecturesClassic ArchitectureClassic Architecture
Situated AutomataSituated Automata
8.48.4 Configuration SpacesConfiguration Spaces
8.58.5 Navigation and Motion PlanningNavigation and Motion Planning
8.68.6 More Robot ExamplesMore Robot Examples
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IntroductionIntroduction
•Robot Institute of America defines a robot as areprogrammable, multifunction manipulatordesigned to move material, parts, tools or specificdevices through variable programmed motions forthe performance of a variety of tasks.
•Russell and Norvig: an active, artificial agentwhose environment is the physical world.
•Robots differ from Softbots whose environmentconsists of computer systems, databases andnetworks.
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The Physical WorldThe Physical World
•The physical world is very demanding, it is:
•inaccessible - sensors are imperfect, only stimuli thatare near the agent can be perceived.
•nondeterministic - a robot needs to deal withuncertainty
•nonepisodic - effects of an action change over time
•dynamic - robot needs to decide when to think andwhen to act immediately
•continuous - states and actions are drawn from acontinuum of physical configurations and motions
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8.8. RoboticsRobotics
IntroductionIntroduction
8.18.1 What are Robots Good For?What are Robots Good For?
8.28.2 What are Robots Made Of?What are Robots Made Of?
8.38.3 ArchitecturesArchitecturesClassic ArchitectureClassic Architecture
Situated AutomataSituated Automata
8.48.4 Configuration SpacesConfiguration Spaces
8.58.5 Navigation and Motion PlanningNavigation and Motion Planning
8.68.6 More Robot ExamplesMore Robot Examples
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What are robots good for?What are robots good for?
•Manufacturing and materials handling
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What are robots good for?What are robots good for?
•Gofer robots
Bell & Howell Mailmobile
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What are robots good for?What are robots good for?
•Gofer robots
Carnegie Mellon’s Nomad
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What are robots good for?What are robots good for?
•Hazardous environments
Lunokhod Moon Robot
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What are robots good for?What are robots good for?
•Hazardous environments
Dante II Frame Walking Robot
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What are robots good for?What are robots good for?
•Telepresence and virtual reality
The Wheelbarrow, a bomb disposal robot
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What are robots good for?What are robots good for?
•Telepresence and virtual reality
Advanced Tethered Vehicle (ATV)
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What are robots good for?What are robots good for?
•Telepresence and virtual reality
Advanced Robot and Telemanipulator System for Minimal Invasive Surgery(ARTEMIS)
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What are robots good for?What are robots good for?
•Augmentation of human abilities
Sigourney Weaver in the movie Aliens
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What are robots good for?What are robots good for?
•Augmentation of human abilities
General Electric’s Walking Truck
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8.8. RoboticsRobotics
IntroductionIntroduction
8.18.1 What are Robots Good For?What are Robots Good For?
8.28.2 What are Robots Made Of?What are Robots Made Of?
8.38.3 ArchitecturesArchitecturesClassic ArchitectureClassic Architecture
Situated AutomataSituated Automata
8.48.4 Configuration SpacesConfiguration Spaces
8.58.5 Navigation and Motion PlanningNavigation and Motion Planning
8.68.6 More Robot ExamplesMore Robot Examples
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What are robots made of?What are robots made of?
•Effectors: Tools for Action
•Locomotion
•Manipulation
•Sensors: Tools for perception
•Proprioception
•Force Sensing
•Tactile Sensing
•Sonar
•Camera Data
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What are robots made of?What are robots made of?
•Effectors: Locomotion
Carnegie Mellon’s Ambler
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What are robots made of?What are robots made of?
•Effectors: Locomotion
MIT’s 3D Hopper
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What are robots made of?What are robots made of?
•Effectors: Manipulation
Degrees of Freedom
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What are robots made of?What are robots made of?
•Sensors: Proprioception
MIT’s Spring Flamingo
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HapticsHaptics
❏❏ MIT Touch LabMIT Touch Lab
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What are robots made of?What are robots made of?
•Sensors: Force Sensing
MIT’s Phantom
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What are robots made of?What are robots made of?
•Sensors: Tactile Sensing
MIT’s Planar Grasper
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What are robots made of?What are robots made of?
•Sensors: Sonar
ActivMedia’s Peoplebot
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What are robots made of?What are robots made of?
•Sensors: Light Sensors
Grey Walter’s Tortoise: Machina Speculatrix
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What are robots made of?What are robots made of?
•Sensors: Camera Data
The Beast: Johns Hopkins University
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What are robots made of?What are robots made of?
•Sensors: Camera Data
MIT’s Fast Eye Gimbals
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8.8. RoboticsRobotics
IntroductionIntroduction
8.18.1 What are Robots Good For?What are Robots Good For?
8.28.2 What are Robots Made Of?What are Robots Made Of?
8.38.3 ArchitecturesArchitecturesClassic ArchitectureClassic Architecture
Situated AutomataSituated Automata
8.48.4 Configuration SpacesConfiguration Spaces
8.58.5 Navigation and Motion PlanningNavigation and Motion Planning
8.68.6 More Robot ExamplesMore Robot Examples
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ArchitecturesArchitectures
The architecture of a robot defines how the job ofgenerating actions from percepts is organized. It isbasically the control mechanism of the robot.
•Classical Architecture
•Situated Automata
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Architectures: Classical ArchitectureArchitectures: Classical Architecture
•A robot with classical architecture is given anumber of low-level actions (LLAs). It then usesthese LLAs to reason about the effects ofperforming a sequence of these LLAs.
The problem with this is that due to things likewheel slippage and measurement errors anylengthy sequence of actions is prone to fail.
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ArchitecturesArchitectures
•Classical Architecture
SRI’s Shakey
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Architectures: Situated AutomataArchitectures: Situated Automata
•The process of deliberating is often too expensiveto generate real-time behavior. Situated automatado not explicitly reason, they operate by reflex.
A situated automata has two parts:
- The first collects sensor inputs and updates thestate register accordingly.
- The second looks at the state register andcalculates output (actions).
Thus a situated automata does not plan, it justdoes whatever it knows to do given the state it isin.
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ArchitecturesArchitectures
•Situated Automata
SRI’s Flakey
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8.8. RoboticsRobotics
IntroductionIntroduction
8.18.1 What are Robots Good For?What are Robots Good For?
8.28.2 What are Robots Made Of?What are Robots Made Of?
8.38.3 ArchitecturesArchitecturesClassic ArchitectureClassic Architecture
Situated AutomataSituated Automata
8.48.4 Configuration SpacesConfiguration Spaces
8.58.5 Navigation and Motion PlanningNavigation and Motion Planning
8.68.6 More Robot ExamplesMore Robot Examples
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Configuration SpacesConfiguration Spaces
Configuration Space is the path where a robot canmove from one position to another.
•Generalized configuration space
•Recognizable sets
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Generalized configuration space
Configuration SpacesConfiguration Spaces
❏❏ Generalized configuration spaceGeneralized configuration space includes other objects as part of the includes other objects as part of theconfiguration, which could be movable, variable in shapes (i.e.configuration, which could be movable, variable in shapes (i.e.scissors or staples), or deformable (i.e., string or paper).scissors or staples), or deformable (i.e., string or paper).
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Recognizable Sets
Configuration SpacesConfiguration Spaces
❏❏ Includes envelope of possible configurationsIncludes envelope of possible configurations
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8.8. RoboticsRobotics
IntroductionIntroduction
8.18.1 What are Robots Good For?What are Robots Good For?
8.28.2 What are Robots Made Of?What are Robots Made Of?
8.38.3 ArchitecturesArchitecturesClassic ArchitectureClassic Architecture
Situated AutomataSituated Automata
8.48.4 Configuration SpacesConfiguration Spaces
8.58.5 Navigation and Motion PlanningNavigation and Motion Planning
8.68.6 More Robot ExamplesMore Robot Examples
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Navigation and Motion PlanningNavigation and Motion Planning• Cell decomposition
• Skeletonization
• Fine-motion (bounder-error) planning
• Landmark-based navigation
• Online algorithms
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Navigation and Motion PlanningNavigation and Motion Planning•Cell decomposition
• Breaks continuous space into a finite number ofdiscrete search problems
Bell & Howell Mailmobile
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Navigation and Motion PlanningNavigation and Motion Planning• Skeletonization methods
• Computes a one-directional “skeleton” (subset) ofthe configuration space, yielding an equivalent graphsearch problem
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Navigation and Motion PlanningNavigation and Motion Planning• Fine-motion (Bounded-error) Planning
• This methods assume bounds on sensor and actuatoruncertainty, and in some cases can compute plans that areguaranteed to succeed even in the face of severe actuator errors
• partial knowledge of the environment is known to the system
• most of the planning is done offline
• used for planning small, precise motions of assembly robots
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Navigation and Motion PlanningNavigation and Motion Planning• Landmark-based navigation
• This method assumes that some regions exist in which therobot location can be pinpointed using landmarks, whereasoutside those regions it may have only orientationinformation.
• This method is both sound and complete
• The plan has at most n steps if there are n landmarks
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Navigation and Motion PlanningNavigation and Motion Planning• Online algorithm
• The robot makes decisions at run time (no need for offlineplanning
• This method assumes that the environment is completelyunknown
• The robot cannot see anything. It can only sense a boundary
• The robot is equipped with a position sensor and knows thelocation of its goal.
Mars Pathfinder Sojourner Mars Exploration Rovers
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8.8. RoboticsRobotics
IntroductionIntroduction
8.18.1 What are Robots Good For?What are Robots Good For?
8.28.2 What are Robots Made Of?What are Robots Made Of?
8.38.3 ArchitecturesArchitecturesClassic ArchitectureClassic Architecture
Situated AutomataSituated Automata
8.48.4 Configuration SpacesConfiguration Spaces
8.58.5 Navigation and Motion PlanningNavigation and Motion Planning
8.68.6 RoboRobo sapiens? sapiens?
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RoboRobo Sapiens? Sapiens?
[Kurzweil, 1990]
Seymour Papert
LOGO Robot
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RoboRobo Sapiens? Sapiens?
[Menzel and D’Aluisio, 2000]
KISMET
MIT
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RoboRobo Sapiens? Sapiens?
[Kurzweil, 1990]
WABOT, theOrgan Player
Ichiro Kato,Waseda-University,Tokyo
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ReferencesReferences
•• P.P. Menzel Menzel and F. and F. D’Aluisio D’Aluisio (2000). (2000). RoboRobo sapiens — sapiens —Evolution of a New SpeciesEvolution of a New Species. Cambridge, MA, MIT Press.. Cambridge, MA, MIT Press.
•• KurzweilKurzweil, R. (1990). , R. (1990). The Age of Intelligent MachinesThe Age of Intelligent Machines..Cambridge, MA, MIT Press.Cambridge, MA, MIT Press.