robotics - university of calgary in albertapages.cpsc.ucalgary.ca/.../slides/08-robotics-6up.pdf ·...
TRANSCRIPT
Christian Jacob
Christian Jacob
jacob@cp
sc.ucalgary.ca
Departm
ent of Com
puter ScienceU
niversity of Calgary
Ch
apter
Ch
apter 8 8
Ro
bo
ticsR
ob
otics
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8.
8.
Robotics
Robotics
IntroductionIntroduction
8.1
8.1
What are R
obots Good For?
What are R
obots Good For?
8.2
8.2
What are R
obots Made O
f?W
hat are Robots M
ade Of?
8.3
8.3
Arch
itectures
Arch
itectures
Classic A
rchitectureC
lassic Architecture
Situated Autom
ataSituated A
utomata
8.4
8.4
Configuration Spaces
Configuration Spaces
8.5
8.5
Navigation and M
otion PlanningN
avigation and Motion Planning
8.6
8.6
More R
obot Exam
plesM
ore Robot E
xamples
IntroductionIntroduction
•Robot Institute of A
merica defines a robot as a
reprogramm
able, multifunction m
anipulatordesigned to m
ove material, parts, tools or specific
devices through variable programm
ed motions for
the performance of a variety of tasks.
•Russell and N
orvig: an active, artificial agentw
hose environment is the physical w
orld.
•Robots differ from
Softbots whose environm
entconsists of com
puter systems, databases and
netw
ork
s.
The Physical W
orldT
he Physical World
•The physical w
orld is very demanding, it is:
•inaccessible - sensors are imperfect, only stim
uli thatare near the agent can be perceived.
•no
nd
etermin
istic - a robot needs to deal with
uncertainty
•no
nep
isod
ic - effects of an action change over time
•dyn
amic - robot needs to decide w
hen to think andw
hen to act imm
ediately
•con
tinu
ou
s - states and actions are drawn from
acontinuum
of physical configurations and motions
8.
8.
Robotics
Robotics
IntroductionIntroduction
8.1
8.1
What are R
obots Good For?
What are R
obots Good For?
8.2
8.2
What are R
obots Made O
f?W
hat are Robots M
ade Of?
8.3
8.3
Arch
itectures
Arch
itectures
Classic A
rchitectureC
lassic Architecture
Situated Autom
ataSituated A
utomata
8.4
8.4
Configuration Spaces
Configuration Spaces
8.5
8.5
Navigation and M
otion PlanningN
avigation and Motion Planning
8.6
8.6
More R
obot Exam
plesM
ore Robot E
xamples
What are robots good for?
What are robots good for?
•Manufacturing and m
aterials handling
What are robots good for?
What are robots good for?
•Gofer robots
Bell &
How
ell Mailm
obile
What are robots good for?
What are robots good for?
•Gofer robots
Carnegie M
ellon’s No
mad
What are robots good for?
What are robots good for?
•Hazardous environm
ents
Lu
no
kh
od M
oon Robot
What are robots good for?
What are robots good for?
•Hazardous environm
ents
Dante II Fram
e Walking R
obot
What are robots good for?
What are robots good for?
•Telep
resence and virtual reality
The W
heelbarrow, a bom
b disposal robot
What are robots good for?
What are robots good for?
•Telep
resence and virtual reality
Advanced T
ethered Vehicle (A
TV
)
What are robots good for?
What are robots good for?
•Telep
resence and virtual reality
Advanced R
obot and Telem
anipulator System for M
inimal Invasive Surgery
(AR
TE
MIS)
What are robots good for?
What are robots good for?
•Augm
entation of human abilities
Sigourney Weaver in the m
ovie Aliens
What are robots good for?
What are robots good for?
•Augm
entation of human abilities
General E
lectric’s Walking T
ruck
8.
8.
Robotics
Robotics
IntroductionIntroduction
8.1
8.1
What are R
obots Good For?
What are R
obots Good For?
8.2
8.2
What are R
obots Made O
f?W
hat are Robots M
ade Of?
8.3
8.3
Arch
itectures
Arch
itectures
Classic A
rchitectureC
lassic Architecture
Situated Autom
ataSituated A
utomata
8.4
8.4
Configuration Spaces
Configuration Spaces
8.5
8.5
Navigation and M
otion PlanningN
avigation and Motion Planning
8.6
8.6
More R
obot Exam
plesM
ore Robot E
xamples
What are robots m
ade of?W
hat are robots made of?
•Effectors: T
ools for Action
•Lo
com
otio
n
•Manipulation
•Sensors: Tools for perception
•Proprioception
•Force Sensing
•Tactile Sensing
•Sonar
•Cam
era Data
What are robots m
ade of?W
hat are robots made of?
•Effectors: L
ocomotion
Carnegie M
ellon’s Am
bler
What are robots m
ade of?W
hat are robots made of?
•Effectors: L
ocomotion
MIT
’s 3D H
opper
What are robots m
ade of?W
hat are robots made of?
•Effectors: M
anipulation
Degrees of Freedom
What are robots m
ade of?W
hat are robots made of?
•Sensors: Proprioception
MIT
’s Spring Flamingo
Haptics
Haptics
❏ ❏M
IT T
ouch Lab
MIT
Touch L
ab
What are robots m
ade of?W
hat are robots made of?
•Sensors: Force Sensing
MIT
’s Ph
anto
m
What are robots m
ade of?W
hat are robots made of?
•Sensors: Tactile Sensing
MIT
’s Planar Grasper
What are robots m
ade of?W
hat are robots made of?
•Sensors: Sonar
ActivM
edia’s Peoplebot
What are robots m
ade of?W
hat are robots made of?
•Sensors: Light Sensors
Grey W
alter’s Tortoise: M
achina Speculatrix
What are robots m
ade of?W
hat are robots made of?
•Sensors: Cam
era Data
The B
east: Johns Hopkins U
niversity
What are robots m
ade of?W
hat are robots made of?
•Sensors: Cam
era Data
MIT
’s Fast Eye G
imb
als
8.
8.
Robotics
Robotics
IntroductionIntroduction
8.1
8.1
What are R
obots Good For?
What are R
obots Good For?
8.2
8.2
What are R
obots Made O
f?W
hat are Robots M
ade Of?
8.3
8.3
Arch
itectures
Arch
itectures
Classic A
rchitectureC
lassic Architecture
Situated Autom
ataSituated A
utomata
8.4
8.4
Configuration Spaces
Configuration Spaces
8.5
8.5
Navigation and M
otion PlanningN
avigation and Motion Planning
8.6
8.6
More R
obot Exam
plesM
ore Robot E
xamples
Arch
itectures
Arch
itectures
The architecture of a robot defines how
the job ofgenerating actions from
percepts is organized. It isbasically the control m
echanism of the robot.
•Classical A
rchitecture
•Situated Autom
ata
Architectures: C
lassical Architecture
Architectures: C
lassical Architecture
•A robot w
ith classical architecture is given anum
ber of low-level actions (L
LA
s). It then usesthese L
LA
s to reason about the effects ofperform
ing a sequence of these LL
As.
The problem
with this is that due to things like
wheel slippage and m
easurement errors any
lengthy sequence of actions is prone to fail.
Arch
itectures
Arch
itectures
•Classical A
rchitecture
SRI’s Shakey
Architectures: Situated A
utomata
Architectures: Situated A
utomata
•The process of deliberating is often too expensive
to generate real-time behavior. Situated autom
atado not explicitly reason, they operate by reflex.
A situated autom
ata has two parts:
- The first collects sensor inputs and updates the
state register accordingly.
- The second looks at the state register and
calculates output (actions).
Thus a situated autom
ata does not plan, it justdoes w
hatever it knows to do given the state it is
in.
Arch
itectures
Arch
itectures
•Situated Autom
ata
SRI’s Flakey
8.
8.
Robotics
Robotics
IntroductionIntroduction
8.1
8.1
What are R
obots Good For?
What are R
obots Good For?
8.2
8.2
What are R
obots Made O
f?W
hat are Robots M
ade Of?
8.3
8.3
Arch
itectures
Arch
itectures
Classic A
rchitectureC
lassic Architecture
Situated Autom
ataSituated A
utomata
8.4
8.4
Configuration Spaces
Configuration Spaces
8.5
8.5
Navigation and M
otion PlanningN
avigation and Motion Planning
8.6
8.6
More R
obot Exam
plesM
ore Robot E
xamples
Configuration Spaces
Configuration Spaces
Configuration Space is the path w
here a robot canm
ove from one position to another.
•Generalized configuration space
•Recognizable sets
Generalized configuration space
Configuration Spaces
Configuration Spaces
❏ ❏G
eneralized configuration spaceG
eneralized configuration space includes other objects as part of the includes other objects as part of the
configuration, which could be m
ovable, variable in shapes (i.e.configuration, w
hich 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).
Recognizable Sets
Configuration Spaces
Configuration Spaces
❏ ❏Includes envelope of possible configurationsIncludes envelope of possible configurations
8.
8.
Robotics
Robotics
IntroductionIntroduction
8.1
8.1
What are R
obots Good For?
What are R
obots Good For?
8.2
8.2
What are R
obots Made O
f?W
hat are Robots M
ade Of?
8.3
8.3
Arch
itectures
Arch
itectures
Classic A
rchitectureC
lassic Architecture
Situated Autom
ataSituated A
utomata
8.4
8.4
Configuration Spaces
Configuration Spaces
8.5
8.5
Navigation and M
otion PlanningN
avigation and Motion Planning
8.6
8.6
More R
obot Exam
plesM
ore Robot E
xamples
Navigation and M
otion PlanningN
avigation and Motion Planning
• Cell decom
position
• Skeletonization
• Fine-motion (bounder-error) planning
• Landm
ark-based navigation
• Online algorithm
s
Navigation and M
otion PlanningN
avigation and Motion Planning
•Cell decom
position
• Breaks continuous space into a finite num
ber ofdiscrete search problem
s
Bell &
How
ell Mailm
obile
Navigation and M
otion PlanningN
avigation and Motion Planning
• Skeletonization methods
• Com
putes a one-directional “skeleton” (subset) ofthe configuration sp
ace, yielding an equivalent graphsearch problem
Navigation and M
otion PlanningN
avigation and Motion Planning
• Fine-motion (B
ounded-error) Planning
• This m
ethods assume bounds on sensor and actuator
uncertainty, and in some cases can com
pute plans that areguaranteed to succeed even in the face of severe actuator errors
• partial knowledge of the environm
ent is known to the system
• most of the planning is done offline
• used for planning small, precise m
otions of assembly robots
Navigation and M
otion PlanningN
avigation and Motion Planning
• Landm
ark-based navigation
• This m
ethod assumes that som
e regions exist in which the
robot location can be pinpointed using landmarks, w
hereasoutside those regions it m
ay have only orientationinform
ation.
• This m
ethod is both sound and complete
• The plan has at m
ost n steps if there are n landm
arks
Navigation and M
otion PlanningN
avigation and Motion Planning
• Online algorithm•
The robot m
akes decisions at run time (no need for offline
planning
•T
his method assum
es that the environment is com
pletelyu
nk
no
wn
•T
he robot cannot see anything. It can only sense a boundary
• T
he robot is equipped with a position sensor and know
s thelocation of its goal.
Mars Pathfinder Sojourner
Mars E
xploration Rovers
8.
8.
Robotics
Robotics
IntroductionIntroduction
8.1
8.1
What are R
obots Good For?
What are R
obots Good For?
8.2
8.2
What are R
obots Made O
f?W
hat are Robots M
ade Of?
8.3
8.3
Arch
itectures
Arch
itectures
Classic A
rchitectureC
lassic Architecture
Situated Autom
ataSituated A
utomata
8.4
8.4
Configuration Spaces
Configuration Spaces
8.5
8.5
Navigation and M
otion PlanningN
avigation and Motion Planning
8.6
8.6
Ro
bo
Ro
bo
sapiens? sapiens?
Ro
bo
Ro
bo
Sapiens? Sapiens?
[Kurzw
eil, 1990]
Seymour Papert
LO
GO
Robot
Ro
bo
Ro
bo
Sapiens? Sapiens?
[Menzel and D
’Aluisio, 2000]
KISM
ET
MIT
Ro
bo
Ro
bo
Sapiens? Sapiens?
[Kurzw
eil, 1990]
WA
BO
T,
theOrgan Player
Ichiro Kato,
Waseda-U
niversity,T
okyo
Referen
cesR
eferences
• •P
.P
. Menzel
Menzel and F.
and F. D’A
luisio D
’Aluisio (2000).
(2000). Ro
bo
Ro
bo
sapiens — sapiens —
Evolution of a N
ew Species
Evolution of a N
ew Species. C
ambridge, M
A, M
IT P
ress.. C
ambridge, M
A, M
IT P
ress.
• •K
urzw
eilK
urzw
eil, R. (1990).
, R. (1990). T
he Age of Intelligent M
achinesT
he Age of Intelligent M
achines. .C
ambridge, M
A, M
IT Press.
Cam
bridge, MA
, MIT
Press.