gerhard k. kraetzschmar the cool science institute educational robotics a glimpse on robotics...
TRANSCRIPT
Gerhard K. Kraetzschmar
The Cool Science Institute
Educational Robotics
A Glimpse on Robotics Tutorial Material
Overview
• What is a robot?• Characterization• Examples• Anatomy
• Why do computer scientists care about robots?• Survey of Educational Robotics Technology• Lego Mindstorms• Boards for Use with Lego Technics• Tetrixx
Autonomous Mobile Robots
• Machines capable of moving about their environment and demonstrating some kind of intelligent behavior
• Permanent Perception-Cognition-Action cycle
• Autonomy is the degree to which an agent's decisions are determined by its own observations and experience
Stanislav
• B21 from RWI• 2 DoF omnidrive• Pan-Tilt Unit• 56 Bumper• 48 IR Sensors• 24 Sonars• 1 Laser Scanner• 2 Microphones• 2 Cameras
Robot Anatomy
• Effectors• mobile bases• manipulators (arms, hands, grippers, kickers)• other
• Sensors• Electronics• Software
• operating systems• programming languages• programming environments• programming methodology
• Robot control architectures
Robotics Software Technology
• State-of-the-art mobile robots use networked hardware• Software is distributed across available hardware
stanleft
laser
stantalk
stanbook
stanright
sonar
base
L-cam
PTU
R-cam
Show me room H20!
GUI
Robotics is AI-complete
• Complex autonomous mobile robots must• represent various kinds of knowledge
• knowledge representation• spatiotemporal representations
• make inferences from knowledge and plan their action • inference; deduction, abduction• planning and scheduling
• perceive their environment• sensor interpretation and sensor fusion• pattern recognition, computer vision
• interact with humans• speech, natural language processing
• adapt to changing environments and tasks• machine learning• neural network learning, reinforcement learning• evolutionary learning
Tracked Robots
• more difficult to build• easy to control• good on rough terrain• cannot climb stairs
Legged Robots
• hard to build• hard to control• good on rough terrain• can climb stairs in principle
Exotic robots
• hard to build• hard to control• stabilization is a major issue• solutions for virtually all environments