Transcript
Page 1: Rolf pfeifer conferencia magistral

“Soft Robotics”Self-organization, embodiment,

and biological inspirationThe four messages of embodiment

Tecnológico de Monterrey Campus Querétaro22 February 2011

Rolf Pfeifer, Artificial Intelligence LaboratoryDepartment of informatics, University of Zurich, Switzerland

Freitag, 4. März 2011

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Thanks to ...

Hajime AsamaRudolf BannaschJosh BongardSimon BovetRodney BrooksWeidong ChenSteve CollinsHolk CrusePaolo DarioRaja DravidRodney DouglasPeter EggenbergerMartin FischerDario FloreanoToshio FukudaRobert FullGabriel GomezFumio HaraAlejandro HernandezOwen HollandKoh HosodaFumiya IidaAuke Ijspeert Takashi Ikegami

Masayuki InabaAkio IshiguroOussama KathibAlois KnollYasuo KuniyoshiLukas LichtensteigerMax LungarellaRen LuoShuhei MiyashitaNorman PackardMike RinderknechtRoy RitzmannAndy RuinaGiulio SandiniOlaf SpornsLuc SteelsRuss TedrakeEsthen ThelenSethu VijakyakumarRuediger WehnerMartijn WisseHiroshi YokoiWenwei YuMarc Ziegler

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… for their ideas

Hajime AsamaRudolf BannaschJosh BongardSimon BovetRodney BrooksWeidong ChenSteve CollinsHolk CrusePaolo DarioRaja DravidRodney DouglasPeter EggenbergerMartin FischerDario FloreanoToshio FukudaRobert FullGabriel GomezFumio HaraAlejandro HernandezOwen HollandKoh HosodaFumiya IidaAuke Ijspeert Takashi Ikegami

Masayuki InabaAkio IshiguroOussama KathibAlois KnollYasuo KuniyoshiLukas LichtensteigerMax LungarellaRen LuoShuhei MiyashitaNorman PackardMike RinderknechtRoy RitzmannAndy RuinaGiulio SandiniOlaf SpornsLuc SteelsRuss TedrakeEsthen ThelenSethu VijakyakumarRuediger WehnerMartijn WisseHiroshi YokoiWenwei YuMarc Ziegler

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Goals

buzzword “embodiment”

seeing things differently

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Contents

• Basic ideas: the four messages of embodiment

• Applications: Service- and companion-robots

• Where are we going? — “Soft robotics”• A look into the future: Self-assembly• Take home message

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Getting into the spirit of embodiment

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The spirit of embodiment

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The spirit of embodiment

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The spirit of embodiment

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The spirit of embodiment

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The spirit of embodiment

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“Crazy Bird” — Morphology, Control

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loosely hanging feetrubber/plastic

Design and construction:Mike Rinderknecht

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Message 1: Physical embedding

Studying brain (or control) not sufficient: Understanding of

• embedding of brain into organism

• organism’s morphological and material properties

• interaction with environment

required

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Let me be clear

The brain is important!

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Let me be clear

The brain is important!

but not the whole story ...

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A bit of background

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Artificial Intelligence — goals

1. Understanding biological systems

2. Making abstractions, developing theory

3. Applications

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animals

humans

beer-serving robot

vacuum cleanerFreitag, 4. März 2011

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Zurich AI Lab robots

Didabot

Famez

Sita

Rufus T.Firefly

Ms. Gloria Teasdale

MorphoFreitag, 4. März 2011

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Zurich AI Lab robots

AmouseSahabotI/IIMelissaTrippSamuraiAnalogrobDexterolatorStumpyEyebotMindstormsKheperasMitsubishiForkleg

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Zurich AI Lab robots

Stumpy, Monkey, Puppy, Min-dog, Wheeled Walker, Mini-Stumpy, Wanda, Dumbo, Rabbit

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Zurich AI Lab robots

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AI Lab Robots(exploration of morphology)

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Two views of intelligence

classical: cognition as computation

embodiment: cognition emergent from sensory-motor and interaction processes

Illustrations byShun Iwasawa

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Successes and failures of the classical approach

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successes

applications (e.g. Google)

chess

consumer electronics

etc.

failures

foundations of behavior

natural forms of intelligence

interaction with real world

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Message 2: Real/Artificial worlds

Understanding of differences between industrial robots and humans/animals and their environments

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Industrial environments vs.real world

industrial environments

environment well-known

little uncertainty

predictability

real worldenvironment

limited knowledge and predictability

rapidly changing

high-level of uncertainty

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Industrial robots vs. natural systems

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principles:- strong, precise, fast motors- centralized control- optimization- computing power

Industrial robots

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Industrial robots vs. natural systems

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principles:- low precision- compliant- control distributed throughout body- reactive- coping with uncertainty

humans

no direct transfer of methods

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Transferring methods

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Sony Qrio:high stiffness

centralized controlconputationally intensive

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Transferring methods

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Sony Qrio:high stiffness

centralized controlconputationally intensive

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Transferring methods

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Sony Qrio:high stiffness

centralized controlconputationally intensive

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Transferring methods

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Sony Qrio:high stiffness

centralized controlconputationally intensive

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By comparison: The “Passive Dynamic Walker”

Design and construction:Ruina, Wisse, Collins: Cornell UniversityIthaca, New York

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The “brainless” robot”:walking without control

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By comparison: The “Passive Dynamic Walker”

Design and construction:Ruina, Wisse, Collins: Cornell UniversityIthaca, New York

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The “brainless” robot”:walking without control

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By comparison: The “Passive Dynamic Walker”

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The “brainless” robot”:walking without control

self-stabilization

Design and construction:Ruina, Wisse, Collins: Cornell UniversityIthaca, New York

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By comparison: The “Passive Dynamic Walker”

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The “brainless” robot”:walking without control

self-stabilization

Design and construction:Ruina, Wisse, Collins: Cornell UniversityIthaca, New York

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Implications of embodimentSelf-stabilization

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Pfeifer et al.,Science,16 Nov. 2007

Passive Dynamic Walker

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Implications of embodimentSelf-stabilization

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Passive Dynamic Walker

Pfeifer et al.,Science,16 Nov. 2007

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Implications of embodimentSelf-stabilization

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Passive Dynamic Walker

self-stabilization

Pfeifer et al.,Science,16 Nov. 2007

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Short question

memory for walking?

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Contrast: Full control — “hard”

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Sony QrioHonda Asimo

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Extending the ecological niche

Design and construction:Martijn Wisse, Delft University

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self-stabilization

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Extending the ecological niche

Design and construction:Martijn Wisse, Delft University

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self-stabilization

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Implications of embodimentSelf-stabilization

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“Denise”

self-stabilization

Pfeifer et al.,Science,16 Nov. 2007

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Message 3: Task distribution

Task distribution between brain (control), body (morphology, materials), and environment

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morphological computation

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Task distribution between brain (control), body (morphology, materials), and environment

no clear separation between control and hardware (“soft robotics”)

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morphological computation

Message 3: Task distribution

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“Stumpy”: task distribution

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self-stabilization

almost brainless: 2 actuated jointsspringy materialssurface properties of feet

Design and construction: Raja Dravid, Chandana Paul, Fumiya Iida

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The dancing robot “Stumpy”

Collaboration with Louis-Philippe Demers, Nanyang Technological University, Singapore

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Movie:Dynamic Devices and AILab, Zurich

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The dancing robot “Stumpy”

Collaboration with Louis-Philippe Demers, Nanyang Technological University, Singapore

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Movie:Dynamic Devices and AILab, Zurich

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Outsourcingfunctionality

Mini-rHexDesign and construction:Robin Guldener, Lijin Aryananda

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soft, flexible, elastic materials

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Outsourcingfunctionality

Mini-rHexDesign and construction:Robin Guldener, Lijin Aryananda

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soft, flexible, elastic materials

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The “robot frog” driven by pneumatic actuators (UTokyo)

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Design and construction: Ryuma Niiyama and Yasuo KuniyoshiUniversity of Tokyo

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The “robot frog” driven by pneumatic actuators (UTokyo)

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Design and construction: Ryuma Niiyama and Yasuo KuniyoshiUniversity of Tokyo

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Grasping

• many ways• winding spring• release• exploited by brain

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“outsourcing” of functionalitydistribution of control through body

“free”

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Towards “cognitive” robots

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Adding sensors: generation of sensory stimulation through action

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• knowledge about environment: pressure, haptic, acceleration, vision, ...

• knowledge about own body: angle, torque, force, vestibular, …

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Message 4: Physical dynamics and information structure

Induction of patterns of sensory stimulation through physical interaction with environment

raw material for information processing of brain (control)

induction of correlations (information structure)

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Loosely swinging arm

• preferred trajectories• biomechanical constraints

(morphology, materials)

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elbow joint:passive, self-organizes into proper trajectory

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Loosely swinging arm

• preferred trajectories• biomechanical constraints

(morphology, materials)

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elbow joint:passive, self-organizes into proper trajectory

purpose?

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Fitting it all together: the“story”

• exploration

• biomechanical constraints (morphology, materials)

• preferred trajectories

• generation of rich useful data

• induction of information structure (self-structuring)

• learning

• cross-modal associations (predictions)

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Compliance, “softness”: the next steps

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The super-compliant robot ECCEDesign and construction:

Rob Knight — robotstudio, GenevaRichard Newcombe — Imperial College

Owen Holland — Essex/Sussex UniversityHugo Marques, Cristiano Alessandro, Max

Lungarella — UZH, experiments

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Anthropomorphic design

ECCE — Embodied Cognition in a Compliantly Engineered Robot

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The super-compliant robot ECCE

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ECCE — Embodied Cognition in a Compliantly Engineered Robot

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Techfest 2011, IIT Bombay

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Embodied IntelligenceSwitzerland

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i-Days, LucerneSwitzerlandSeptember 2010

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Hannover Fair, ICT Brussels, Science Fair St. Agrève, France

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ECCE with Doris Leuthart, presidentof Switzerland: Innovation Fair 2010

Design and construction:Rob Knight — robotstudio, Geneva

Richard Newcombe — Imperial CollegeOwen Holland — Essex/Sussex University

Jaan Spitz, Pascal Kaufmann — UZHHugo Marques, Cristiano Alessandro, Max

Lungarella — UZH, experiments

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Anthropomorphic design

ECCE — Embodied Cognition in a Compliantly Engineered Robot

der “bionische Roboter”

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The super-compliant robot ECCE

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Anthropomorphic design

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The super-compliant robot ECCE

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Anthropomorphic design

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The super-compliant robot ECCE

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Anthropomorphic design

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The super-compliant robot ECCE

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Anthropomorphic design

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Essence

• self-structuring of sensory data through — physical — interaction with world

• physical process, not computational

pre-requisite for learning

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Inspiration:John Dewey, 1896 (!)Merleau-Ponty, 1963Bajcsy, 1963; Aloimonos, 1990; Ballard, 1991Sporns, Edelman, and co-workersThelen and Smith (developmental studies)

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Contents

• Basic ideas: the four messages of embodiment

• Applications: Service- and companion-robots

• Where are we going? — “Soft robotics”• A look into the future: self-assembly• Take home message

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Applications

• classical/algorithmic: chess, search engines, data mining, appliances, control, etc.

• embodied/robots in real world:entertainment, education (edutainment), service, medical, hazardous environments, etc.

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Entertainment robots

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The flute playing robotRoboter WF-4

Design and construction:Waseda University,Tokyo

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The flute playing robotRoboter WF-4

Design and construction:Waseda University,Tokyo

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Recptionist at last World Expo

Design and construction:Osaka University, andKokoro Dreams

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Recptionist at last World Expo

Design and construction:Osaka University, andKokoro Dreams

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The robot teacher Saya(Hiroshi Kobayashi,

Univ. of Science, Tokyo)

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Support SuitsExoskeletons

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HAL, the “HybridAssistive Limb ®”

Cyberdyne Inc.Exoskeleton

paralyzed individual to climb Breithorn (Switzerland)

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Wheel chair: controlled by brain waives

65Design and construction:Jose del Millan, EPFL, Switzerland

recognition of subject’s intentions based on analysis of non-invasive EEG signals

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First prototype

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Design and construction:Konstantinos Dermitzakis

AILab, UZH

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First prototype

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Design and construction:Konstantinos Dermitzakis

AILab, UZH

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Fitness center of thefuture?

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ten, nine, eight, …

Robot development by OsakaUniversity and Kokoro DreamsJapan

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Entertainment and sports ALP: The Adaptive Leg Press

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Design andconstruction:Max Lungarellaand Raja Dravid

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Entertainment and sportsALP: The Adaptive Leg Press

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Design andconstruction:

Max Lungarellaand Raja Dravid

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Entertainment and sportsALP: The Adaptive Leg Press

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Design andconstruction:

Max Lungarellaand Raja Dravid

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Contents

• Basic ideas: the four messages of embodiment

• Applications: Service- and companion-robots

• Where are we going? — “Soft robotics”• A look into the future: self-assembly• Take home message

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“Soft Robotics”

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Soft to touch Soft movement Soft interaction Emotions

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“Soft Robotics”

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Soft to touch

- materials- soft skin- fur - deformable tissue

Soft movement

- elastic compliant materials for muscles and tendons- variable compl. actuators- expl. passive dynamics

Soft interaction

- soft movements- social and cognitive skills- reactive- soft materials

Emotions

- friendly interaction with humans- facial expression- body posture

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The next “industrial revolution”

beyond traditional manufacturing

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hard roboticsnew manufacturingtechnology

new industrial revolution

softbots

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The next “industrial revolution”

beyond traditional manufacturing

manipulation skills

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hard roboticsnew manufacturingtechnology

new industrial revolution

softbots

Rodney Brooks

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New manipulation skills

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Contents

• Basic ideas: the four messages of embodiment

• Applications: Service- and companion-robots

• Where are we going? — “Soft robotics”• A look into the future: self-assembly• Take home message

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Self-assemblyShuhei Miyashita’s “Tribolons”

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• light, swimming on water (electrolyte)

• magnet and vibration motor

• “pantograph”

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“Pizza” self-assembly

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“Pizza” self- assembly

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Design and construction:Shuhei Miyashita, AI Lab, UZH and CMU

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“Pizza” self- assembly

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Design and construction:Shuhei Miyashita, AI Lab, UZH and CMU

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“Pizza” self- assembly

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Design and construction:Shuhei Miyashita, AI Lab, UZH and CMU

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Emergent functionalitya “bicycle”

emergent functionality

how does it work?

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green discs:magnet

no vibration motor

yellow triangle:magnet

vibration motor

basin withelectrolyte

Design and construction:Shuhei Miyashita, AI Lab, UZH and CMU

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Emergent functionalitya “bicycle”

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Design and construction:Shuhei Miyashita, AI Lab, UZH and CMU

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Emergent functionalitya “bicycle”

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Design and construction:Shuhei Miyashita, AI Lab, UZH and CMU

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Contents

• Basic ideas: the four messages of embodiment

• Applications: Service- and companion-robots

• Where are we going? — “Soft robotics”• A look into the future: self-assembly • Take home message

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Summary and conclusions

Key to “soft robotics”:

understanding of “embodiment”

—> the “four messages”

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Summary: The four messages of embodiment

Message 1: Physical embedding Understanding brain not enough; morphology materials; embedding

Message 2: Real/Artificial worlds Fundamental differences industrial and real-world environments

Message 3: Task distributionCooperation - brain, body, environment

Message 4: Physical dynamics and information structure Induction of information structure; dependence on morphology and control 85

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Like to know more?

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Visit us in Zurich

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or read THE book

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or read THE book

what book?!??

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Read

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Rolf Pfeifer and Josh Bongard

How the body shapes the way we think — a new view of intelligence(popular science)

MIT Press, 2007

Illustrations by Shun Iwasawa

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Chinese translation

Translated byWeidong ChenShanghai Jiao Tong UniversityandWenwei YuChiba University, Japan

Foreword byLin ChenChinese Academy of Science

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translated byKoh Hosoda, Osaka University

andAkio Ishiguro, Tohoku University

to appear soon

How How the body shapes the way we think : a new view of intelligence

How the body shapes the way we think : a new view of intelligence

How 知能の知能原理

we think : a new view of

身体性に基づく構成論的アプローチ

知能の原理

R. Pfeifer, J. B

ongard

細田  

耕・石黒

章夫

身体性に基づく

構成論的アプローチ

R. Pfeifer, J. Bongard 著細田  耕・石黒 章夫 訳

アタリ

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or joinThe ShanghAI Lectures

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or joinThe ShanghAI Lectures

• global lecture series on natural and artificial intelligence

• video conference with 20 universities• 3D virtual collaborative environments for

classwork with 40 universities • intercultural cooperation on interdisciplinary

topic

The ShanghAI Lectures, Sept to Dec 2011(from the University of Zurich)

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Participating Universities 2010Time Zones

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• Stanford• USC • UC Irvine

• NY Citytech• Vermont • Michigan

• Sao Paolo

• Salford• Manchester• Essex • Edinburgh

• Algiers

• UZH• ETHZ• EPFL• HSG• HSLU• TU Munich• LMU• Hamburg• Tallinn

• Shanghai• Beijing• Xi’an• Hosei• Osaka• Chiba• Nagoya• Tohoku• SKKU (Korea)• NTU (Singa)

• UTAS

• Herzlia• Jeddah • UAE

9am 4pm

5pm8am

7pm

11am

4am1am

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Participating Universities 2011Time Zones

95

• Stanford• USC • UC Irvine

• NY Citytech• Vermont • Michigan

• Sao Paolo

• Salford• Manchester• Essex • Edinburgh

• Algiers

• UZH• ETHZ• EPFL• HSG• HSLU• TU Munich• LMU• Hamburg• Tallinn

• Shanghai• Beijing• Xi’an• Hosei• Osaka• Chiba• Nagoya• Tohoku• SKKU (Korea)• NTU (Singa)

• UTAS

• Herzlia• Jeddah • UAE

9am 4pm

5pm8am

7pm

11am

4am1am

3am•Queretaro

?

Freitag, 4. März 2011

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The Zurich AI Lab

97

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Thank you for your attention!

98

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The Zurich AI Lab

1987 Foundation with 2 PhD students

2010 ca. 30 scientific staff (7 Postdocs und 20 PhD students, master students)

http://ailab.ifi.uzh.ch/

Funding:

EU-ICT (Information and Communication Technologies) (Cognitive Systems, FET — Future and Emergent Technologies)

University of Zurich

Swiss National Science Foundation

Private Sector, Sponsors

Foundations, CIAN (Club of Intelligent Angels)

99

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Page 123: Rolf pfeifer conferencia magistral

Research program

100

dynamic movement and locomotion

biorobotics

learning, developmentneural modelinghumanoid robots

educational technology

designart, entertainment

self-organization,self-assembly

modular robotics

artificial evolutionmorphogenesis

theory ofintelligence

vis

ion

“life as itcould be”

gra

nd

go

al

theory ofintelligence

vis

ion

“life as itcould be”

gra

nd

go

al assistive robotics

prosthetics and neural interfacing

applications to business design

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Page 124: Rolf pfeifer conferencia magistral

Funding• University of Zurich, Switzerland

• Swiss FNS:- From locomotion to cognition- Dynamical coupling in motor-sensory function substitution- From morphology to functionality- Swiss National Competence Center, for Research (NCCR) Robotics

• EU-FET: - Locomorph- Octopus- Extended Sensory-Motor Contingencies- iCub (finished)

• EU-Cognitive Systems:- ECCERobot- Amarsi- EU-Cog II/III

• Private funding/others:- CIAN (Club of Intelligent Angels)- Maxon Motor- Festo- Hasler Foundation- Switch- Awtech 101

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Research program

102

dynamic movement and locomotion

biorobotics

learning, developmentneural modelinghumanoid robots

educational technology

designart, entertainment

self-organization,self-assembly

modular robotics

artificial evolution

morphogenesis

assistive roboticsprosthetics and

neural interfacing

applications to business design

LocomorphOctopus

LocognitionMorpho-function

iCubECCERobot

AmarsiRobodoc

Dyn. CouplingALP

Prosthetic hand

REAL

Artists in LabInteractive installations

Scalableself-assemby

PACE

The ShanghAILectures

Industrial designand business

theory ofintelligence

vis

ion

“life as itcould be”

gra

nd

go

al

theory ofintelligence

vis

ion

“life as itcould be”

gra

nd

go

al

EU-Cog II

NCCR RoboticsStarted: Dec. 2010

(Switzerland)

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NCCR: 12 year perspective

103

EPFLUniversity of Zurich

ETH Zurich

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The Zurich AI Lab — Spin-offs

• Neuronics• Dynamic Devices • Starmind Innovation• Enexra inc.

104

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Perception as embodied:The rotating dancer

105

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Outsourcing? Insourcing?

106

Chinese textile workersdiscover their power

Freitag, 4. März 2011


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