robotics. why robotics? practice promise why robotics? vibrant field
TRANSCRIPT
Robotics
Why Robotics?
Practice
Promise
Why Robotics?
Vibrant field
Why Robotics?
A window to the soul...
Advances in AI and in Robotics are one and the same thing.
What is a robot?
What is a robot?
Battlescar the BattleBot
Ripley’s Exoskeleton
Al GoreUSC
helicopter
Rug Warrior
Self-guiding golf cart
MOVIT line follower
Sea-man
categorizing robotsA
bstr
acti
on
Autonomy
hardware
software
just is
human-controlled
independent
categorizing robotsA
bstr
acti
on
Autonomy
hardware
software
just is
human-controlled
independent
What is robotics?
Autonomous : Robot :: ________ : Mudder
Robot a physical system that autonomously senses the environment and acts in it.
Sleeping
Unicycling
Overworked
Robot timeline
...1921
Robot timeline
...1921 1950
Karl Capek
I, Robot
First Law:
A robot may not injure a human being, or, through inaction, allow a human being to come to harm.
Second Law:
A robot must obey orders given it by human beings, except where such orders would conflict with the First Law.
Third Law:
A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
Isaac Asimov’s Laws of Robotics
Robot timeline
...1921 2020
Karl Capek
1950
I, Robot
Robot timeline
...1921 21502020
Karl Capek
Dalek
1950
I, Robot
Robot timeline
...1921 242121502020
Karl Capek
Dalek
1950
I, Robot
Real robot timeline
...1951
“Tortoise”
Shakey
Nils Nilsson @ Stanford Research Inst.
......1968
first “general-purpose” mobile platform
Shakey
Nils Nilsson @ Stanford Research Inst.
......1968
first “general-purpose” mobile platform
Living Room (L)
tvg
sp
Kitchen (K)
Bedroom (B)
sh tv
• Go(x,y)
Preconditions: At(sh,x)
Postconditions: At(sh,y)
• Push(obj,x,y)
Preconditions: At(sh,x) At(obj,x)
Postconditions: At(sh,y) At(obj,y)
Shakey Start
START
GOAL
ACTIONS
Go(L,B)
Go(L,K)
At(sh,L) At(sp,K) At(tvg,B) At(tv,L)
Push(tv,L,B)
Push(tv,L,K)
At(sh,K) At(sp,K) At(tvg,B) At(tv,K)
At(sh,L) At(sp,L) At(tvg,L) At(tv,L)
Stanford Cart
Hans Moravec @ SAIL
......1976
SEN
SIN
G
AC
TIN
G
perc
epti
on
worl
d
modelin
gpla
nnin
g
task
execu
tion
moto
r co
ntr
ol
“functional” task decomposition
Cartland
Insects
Rodney Brooks @ MIT
......1985
avoid objects
wander
explore
build maps
identify objects
planning and reasoning
SEN
SIN
G
AC
TIN
G“behavioral” task decomposition
Subsumption Architecture
runaway behavior
FSM / DFA
Subsumption Architecture
runaway behavior
wander behavior
FSM / DFA
Subsumption Architecture
runaway behavior
wander behavior
navigate behavior
FSM / DFA
Subsumption Architecture
Genghis in action!
Beyond subsumption
......1995
Polly Navlab & ALVINN