comp 150: developmental robotics - tufts cs€¦ · north-east robotics colloquium held at...

55
COMP 150: Developmental Robotics Instructor: Jivko Sinapov www.cs.tufts.edu/~jsinapov

Upload: others

Post on 01-Oct-2020

0 views

Category:

Documents


0 download

TRANSCRIPT

Page 1: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

COMP 150: Developmental Robotics

Instructor: Jivko Sinapovwww.cs.tufts.edu/~jsinapov

Page 2: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Today

● Syllabus – overview and Q & A

● Projects Q & A

● Overview of Robotics

Page 3: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Announcements

Page 4: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

North-East Robotics Colloquium

● Held at Northeastern University on Saturday October 21st

● https://nerc2017.ccis.northeastern.edu/● Deadline for registration: October 15● $50 dollars for graduate students, $10 for

undergrads● Extra credit if you attend – let me know if you

will

Page 5: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Class Goals

At the end of this class you will have an understanding of the current state of the art in cognitive and developmental robotics and will be able to contribute to original research in this field.

Page 6: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Organization*

This class will be taught as a seminar. The students will be expected to read the assigned papers for each lecture in advance and to actively participate in class discussions.

* The instructor reserves the right to change any and all aspects of this class for whatever reason or no reason at all (a.k.a., academic freedom).

** You agree that I have the unconditional right to exercise this discretion in a way that is most favorable or convenient to me.

Page 7: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Prerequisites

Page 8: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Prerequisites

(all episodes)

Page 9: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Prerequisites

(all episodes)

(all episodes)

Page 10: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Prerequisites

(all episodes)

(all episodes)

(most episodes)

Page 11: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Prerequisites

A strong interest in the question, ``What is intelligence and how can it be implemented in a physical robot?''

In most cases, at least one person on a project team should have some programming experience.

The most important prerequisite of all, however, is your interest in the course, motivation, and commitment to learning.

Page 12: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Prerequisites

For best results take two lectures weekly.

Common side effects may include sleepless nights, broken robots, nervousness, and banging head on keyboard.

Frequent visits to the instructor and the TA have been shown to alleviate some of those symptoms. Talk to your instructor if this class is right for you.

Page 13: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

How Difficult is this Class?

Page 14: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Attendance

You are expected to attend every class and actively participate in the discussions. If you miss a class, it is your responsibility to find out what we talked about, including any announcements.

Page 15: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Homework Assignments

● Homework assignments will consist of short written essays on questions related to the readings

● Homeworks will be announced in class● Your submission will consist of a post on a

forum● Next homework is going out on Tuesday

Page 16: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Projects

The final project must be a research or design project that is related to the topics covered in class. You may choose to work individually or in small groups (2-3 members each). Working in groups, however, is highly recommended.

You are encouraged to select a topic for your final project as soon as possible. A written project proposal will be due on 10/26. The final project report will be due on the Sunday of the last week of classes.

Each team will be required to present the results of their final project during the last week of the semester.

Page 17: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Project Components

● Preliminary Proposal “Presentation”

● Project Proposal

● Progress Report

● Final Report + Presentation

Page 18: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Questions about projects....

● Are we required to use specific programming languages?

● How do we team up and form study groups?● What are the “types” of projects we could do?● How do we decide the topic?

Page 19: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Questions about projects....

● Is there a robotics lab where we can work at?● Are we expected to use real robots and if so, which

robots?● If using real or simulated robots, to what extent do

we have to program all the implementation running on the robot, e.g., low level controllers?

● Are we allowed to use github to store our project materials?

● Are you going to grade us on the quality of code?

Page 20: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Questions about programming...

● Help! I am not a programmer!

Page 21: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Questions about my research...

Page 22: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Small-Group Activity

● Question: What is an object? To a human? To a robot?

● Talk to your neighbors in a small group and try to come up with some definitions

● We'll share the results in 5-10 min

Page 23: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Behavior-Based Object Exploration

Page 24: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Behavior-Based Object Exploration

Page 25: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50
Page 26: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Other questions?

Page 27: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

A Brief History of Robotics

Page 28: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

A Brief History of Robotics

First introduced in the play R.U.R. (Rossum's Universal Robots) which opened in Prague in January 1921.

The word ‘robot’ is derived from the Czech word for forced labor or serf.

Page 29: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Early Depiction of Robots in Movies

Page 30: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Definition

“re-programmable, multi-functional, manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks”

– Robotics Industry Association (RIA)

Page 31: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

A Brief Timeline

Page 32: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Mechanical Duck

[Jacques de Vaucanson (1709-1782) ]

Page 33: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Radio-Controlled Submarine

[Nikola Tesla, 1898 (patent #613809) ]

Page 34: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Walter's Turtle

[Grey Walter, 1948-49]

Page 35: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Walter's Turtle

[BBC Report ~1949]

Page 36: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

The “Beast”

[John Hopkins University Applied Physics Lab]

Page 37: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

First Industrial Robot

First Industrial Robot (~60s)

Page 38: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

The Stanford Cart

[Stanford University, 1970]

Page 39: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Shakey

[Stanford Research Institute, 1970]

Page 40: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Video

Page 41: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Genghis

[Rodney Brooks, MIT, 1989]

Page 42: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Sojourner

[NASA, 1997]

Page 43: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Honda's Humanoids

1986 2011

[Honda, 1986-2011]

Page 44: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Honda's Humanoids

Page 45: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Sony's Robot Dog

Page 46: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50
Page 47: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Androids

[Honda, 1986-2011]

Page 48: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50
Page 49: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Geminoid Summit

Page 50: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

The Uncanny Valley

Page 51: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

The Uncanny Valley

Page 52: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50
Page 53: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50
Page 54: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50
Page 55: COMP 150: Developmental Robotics - Tufts CS€¦ · North-East Robotics Colloquium Held at Northeastern University on Saturday October 21st Deadline for registration: October 15 $50

Next time...

● What are the major practical and research questions in robotics?

● Mapping and Localization● Movement and Control● Perception and Cognition● ...