What is in a ROBOT?

Robotic ComponentsUnit A – Ch 3

Definition from Ch 1:

A robot is an autonomous system which exists in the physical world, can sense its environment and acts on it to achieve some goal.

Robotic Components

This definition tells us our robot needs a:Physical body so that it can exist in the physical worldSensors, o it can perceive/sense its environmentEffectors and actuators, so that it can take actionA controller so it can be autonomous (brain)We will refer to these as the components of: embodiment, sensing, action, and autonomy.To this definition, we will add POWER SOURCE.

Embodiment

The physical bodyAllows the robot to move, shake, go places, meet people -- interface with other agents –and interact with the physical worldLimitations:Influenced by space and time

Question: Software Agents

A robot is a special kind of agent. Agents are an entities that:Act on the environmentdirect activity towards a its goal Is a software agent a robot?

Sensing

Sensing and perception are treated as synonyms – receiving data about the real worldWhat does a robot need to sense?Ideally, accurate information that helps it to best achieve its goal.Good design and good software are important.

Animals

Many animals have sensors well suited for their niche, namely their environment and position in their ecosystemSee animal echolocationThe better a robot can fit their niche, the more likely they are to survive.

Robot States

Sensing allows a robot to know its stateBorrowed from physicsDescription of the system at any particular point in timeRobot is in state x at time t

The larger the state, b/c it takes more symbols to write it down States are observable, partially observable, or hidden State space is the set of all possible states a system (robot) can be in

Representation

Robots can ``remember’’ facts about the world (e.g. path through a maze, map) by using modelsExternal states are the robot’s perception of the outside worldWhat do you think are internal states?Control system complexity is associated with the type of internal modeling a robot uses

What can robots sense?

Anything it has a sensor for! Cameras, sonar, laser, switches and others.Currently, there are machine versions for eyes, ears, noses, tongues, hairs and various other organs

Action

Effectors enable a robot to take actionThe underlying mechanism to make effectors work are actuatorsEffectors and actuators are mainly used for:Locomotion: moving around, going placesManipulation: handling objects

The dimensions a manipulator can move is called its degrees of freedom

Power Source

Brains and brawn both require energyPortable power sources can impact the mobility of robotsRenewing power sources w/o human intervention is also a current issues

Autonomy (Controllers)

Controllers provide the hardware/software that allows autonomy, they:Get sensor readings and existing informationDecide course of action to complete the subgoal/goalGive CONTROL to the effectors to take actionPlay the role of a ``brain and nervous system”Autonomy is the ability to make decisions and act on themCan be complete or partial