lecture 19 robots past and future.ppt
TRANSCRIPT
Robots Past and Future
Based on a lecture by Dr. Hadi MoradiUniversity of Southern California
The 1st Mobile Robot: SHAKEY
• SRI: Stanford Research Institute (1966-1972)
• Camera (120x120x4)• laser range finder• Off-board computing (DEC
PDP-10 and 15)Goal: study the methods of
interaction with a complex environment
Early Robots: SHAKEY
• Problem: Move about and manipulate objects• Environment: Single room painted black and white • 3 level action
– Low level: Simple moving, turning, route planning– Intermediate level: Connecting low level actions
together to achieve more complex tasks– High level: To execute plans to achieve goals
given by the user. • STRIPS (Stanford Research Institute Planning
System) planner• What kind of control system is it?
Early Robots: HILARE
• LAAS in Toulouse, France (1977)
• Wheels: 2 driving wheels and a free wheel
• Batteries: 24V• Processors: 4 x
Intel 80286
Early Robots: HILARE
• Operating system: none• Communication: serial radio modem (9600 bauds)• Sensors: Odometer, 16 US sensors, a Laser Range
Finder• Dimensions (LxWxH): 80cm x 80cm x 60 cm• Weight: 400kg• Control system: Deliberative -> Hybrid
Early Robots: CART/Rover
• Hans Moravec• 1977 Stanford, 1983
CMU• Sonar and vision• Deliberative control• CART: To follow a
white line
Early Robots: CART/Rover
Early Robots: CART/Rover
• Stereoscopic 3D mapping and navigation• 5 hours to cover 30 meters
Early Robots: CART/Rover
Robotics Today
• Assembly and manufacturing
Robotics Today
• Material Handling• Gophers (Hospitals, Security guards)• Hazardous environment (Chernobyl)
Robotics Today
• Remote environment (Pathfinder)• Rocket man
Robotics Today
• Surgery (brain, hips)
Robotics Today• Tele-presence and virtual reality• Man-machine interface – emotional robots• Nursing and home care• Surgeons help, remote surgery• Home chores• Security and protection• Self-assembly• Autonomous vehicles• Sea and space Investigation• Entertainment and art• Toys (1min 45 sek)• Children playing with robot and two dogs (3 min 15 sec)
– Tokyo Lecture 1 time 1:45:00-1:48:15
Key Issues
• Grounding in reality: not just planning in an abstract world • Situatedness (ecological dynamics): tight connection with
the environment • Embodiment: having a body • Emergent behavior: interaction with the environment • Scalability: increasing task and environment complexity• Humanoid robot (10 min)
– Tokyo Lecture 1 time 1:55:00-2:05:00
Future? Basic Industrial
• Industrial Robots in Action
• (3min 13 sek)
Future? Basic home operations
Future? Indoor Manipulation
Future? Simple Chores
Asimo (1 min 30 sec)
Asimo Walking humanoid robot(8 min 24 sec)
Why is Robotics hard?
• Sensors are limited and crude • Effectors are limited and crude • State is partially-observable
– internal and external, but mostly external– Asimo and stairs (36 sec)
• Environment is dynamic – changing over time– full of potentially-useful information
• Asimo at Consumers Electronic Show• CES 2007 Las Vegas (3 min 20 sec)