comp 150: developmental robotics · 2017. 9. 19. · basic robotics research problems ... –...
TRANSCRIPT
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COMP 150: Developmental Robotics
Instructor: Jivko Sinapovwww.cs.tufts.edu/~jsinapov
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This Week
● Brief history and overview of robotics
● Getting started with robot simulators
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Sharing information and knowledge between two robots
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Basic Robotics Research Problems
● Mapping and Localization– Vision-based
– Laser-based
● Navigation and Movement– Planning Trajectories
– Obstacle Avoidance
● Object Manipulation– Grasping
– Pick and Place
– Dextrous Manipulation
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Mapping and Localization, a.k.a where in the world is the robot?
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Odometry-based Localization
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Example
ROBOT starts at (0,0)
Commands:– FORWARD(15 m)
– TURN_LEFT(90 deg)
– FORWARD(15 m)
– TURN_LEFT(90 deg)
– FORWARD(25 m)
Where does the robot end up?
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Here is what actually happens...
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Odometry Motion Model
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Case Study: Minerva Robot (late 90s)
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Case Study: Minerva Robot (late 90s)
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Using Ceiling Maps for Localization
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Under a light
Measurement z: P(z|x):
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Next to a light
Measurement z: P(z|x):
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Eslewhere
Measurement z: P(z|x):
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Video
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Introduction to Particle Filters
[Thrun, Burgard & Fox (2005)]
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At start, the robot has no idea...
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Next, the robot senses a door...
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Since there are 3 identical doors the robot can be next to any one of them
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Therefore, we inflate balls (particles) that are next to doors and shrink all others
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Therefore, we inflate balls (particles) that are next to doors and shrink all others
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Before we continue we have to make all balls to be of equal size. We need to resample.
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Resampling Rules
=
=
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After Resampling...
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Next, the robot moves to the right...
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...so we move the balls as well
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...and add some position noise
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Next, the robot senses that it is next to one of the three doors
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Now we have to resample again
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The robot moves again
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… so we must move all balls (particles) to the right again
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And so on...
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Another case study
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Latest and Greatest: 3D Mapping
[ Michael Kaess, Georgia Tech]
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Latest and Greatest: 3D Mapping
[ Michael Kaess, Georgia Tech]
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State of the art: Cartographer
[ https://www.youtube.com/watch?v=cK6s7soVwws ]
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Grasping and Manipulation
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Kinematics
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Forward Kinematics
GIVEN
FIND
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Inverse Kinematics
FIND
GIVEN
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Grasping
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Typically framed as pose estimation
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Agile-grasp with HSR1
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Function-Based Grasping
[http://www.madry.pro/images/projects/task_grasping/grasp_examples/object_task.png]
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Next...
● Getting started with a robot simulator