design of intelligent robotics · roboearth •how to deal with a complex world? • changing...
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Design of Intelligent Robotics
René van de Molengraft
December, 6th, 2010
Theme
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• Health: Care and Cure
Mission
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• Help elderly people to stay in their homes• Improve quality of surgery for surgeon and patient
Research challenges
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Learning• Low-level:
3D-sensing, world modeling, grasping, locomotion• High-level:
cognition, planning, coordination of multiple robots
Approach• Mixed Model/Data-based• Use priors
Robocup@Home
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RoboCup use cases
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Midsize league soccer• Scenario: structured, but highly dynamic• Low-level: world modeling, skills• High-level: strategy, coordination
@Home league• Scenario: static, but highly unstructured• Low-level: 3D-sensing, object recognition, grasping• High-level: cognition, learning
RoboEarth Project
• Four-year funding from European Commission (FP7)
• Starting date: December 1st, 2009
• Consortium consisting of:
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Motion Control
• Performance• 90% feedforward
• 10% feedback
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• Humans in day2day tasks• 90% feedforward – learning and memorization
• 10% feedback – sensory feedback
Industrial robots
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• Structured environment• Same scene, same task• No humans
Domestic and care robots
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• How to deal with a complex world?• Changing scenes• Many possible scenarios
RoboEarth
• How to deal with a complex world?• Changing scenes
• Many possible scenarios
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• RoboEarth – learning and memorization
• Share any reusable knowledge between robots
• World-Wide-Web for and by robots
RoboEarth
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Safety and risks
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• Consistency of data in RoboEarth
• Who is allowed to sharing what?
• Use existing protocols (HTTPS)
• Protect “personal” data (compare Streetview)
• Certified users
• Log and analyse usage
• Liability in case of malfunction?
• Autonomous operation
• Who is responsible?
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• “By the year 2050, develop a team of fully autonomous humanoid robots that can win against the human world soccer champion team”
• Joint development of technology in robotics and artificial intelligence
• Since 1997
Robocup
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• Founded spring 2005
• 20 active members
• 2nd place World Cup 2008/2009/2010
Tech United
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• fully autonomous
• vision and localisation
• fast and safe
• ball-handling (don’t clamp!)
• ball-kick
• team-play
Challenges
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• design a team of autonomous soccer robots
• robot is of DH/CS type
• team is of DH/DS type
• soccer = strategy + skills
Design goal
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• robustness
• performance
• time-to-next-tournament
• safety
• maintenance
•
• cost
Design criteria
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• FIFA rules
• additional Robocup rules
• size, weight, color
Constraints
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• manage complexity
• keep it simple
• hierarchy
• make choices explicit
• use models
• create robustness
• redundancy
Design rules of thumb
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team
robot robot robot
Bottom-up design
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• localisation
• soccer skills
• intercept, dribble, kick
• soccer roles
• attacker, defender, goalkeeper
• soccer tactics
• pass, assist, play system
Requirements
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• low level (hardware) functions
• drive
• kick
• ball handling
• sense environment
• (high) level (sofware) functions
• localisation
• skills
• roles and strategy
Identify functions
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HW
HW
HW
HW
HW/SW
HW/SW
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SW SW
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HW HW HW
HW/SW HW/SW HW/SW
SW SW
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HW/SW
HW
System architecture
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• which sensors?
• vision
• odometry
• accelerometers
• laser
• hardware or software?
• cpu power
• sensor fusion
Design space exploration
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• vision
• number of cameras, type of camera, resolution, omnivision, mirror, construction, acquisition, feature extraction, modelfit, object tracking etc.
Localization
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• Interdisciplinary
• mechanics
• electronics
• software
• Approach
• model-based design (simulation and prototyping )
• early integration
Specialists needed
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• hardware
• omnivision camera+mirror
• electronic compass
• odometry with motor encoders
• software
• white-line detection
• orientation calibration
• sensor fusion
Our localization design
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White-line detection
Evolution and revolution
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Devbot0 2005
Model 2006
Model 2007
Model 2008
Model 2009
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?
How to design a system of systems?
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• 5 agents: distributed system
• agents must be self-reliant
• minimise interaction/sync
• maximise cooperation
• aggressive environment
System of systems
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• April 2011, German Open, Magdeburg
• July 2011, World Cup, Istanbul
• Dedicated goal keeper
• Robustified ball handling
• Passing during gameplay
Towards Istanbul, 2011