robotics in which agents are endowed with physical effectors with which to do mischief
Post on 21-Dec-2015
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Robotics
In which agents are endowed with physical effectors with which to do mischief.
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Introduction•Robot Institute of America defines robot as a reprogrammable, multifunction manipulator designed to move material, parts, tools or specific devices through variable programmed motions for the performance of a variety of tasks.
•Russell and Norvig: an active, artificial agent whose environment is the physical world.
•Robots differ from Softbots whose environment consists of computer systems, databases and networks.
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The Physical World•The physical world is very demanding, it is:
•inaccessible - sensors are imperfect, only stimuli that are near the agent can be perceived.
•nondeterministic - a robot needs to deal with uncertainty
•nonepisodic - effects of an action change over time
•dynamic - robot needs to decide when to think and when to act immediately
•continuous - states and actions are drawn from a continuum of physical configurations and motions
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What are robots good for?•Manufacturing and materials handling
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What are robots good for?•Gofer robots
Bell & Howell Mailmobile
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What are robots good for?•Gofer robots
Carnegie Mellon’s Nomad
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What are robots good for?•Hazardous environments
Lunokhod Moon Robot
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What are robots good for?•Hazardous environments
Dante II Frame Walking Robot
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What are robots good for?•Telepresence and virtual reality
The Wheelbarrow, a bomb disposal robot
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What are robots good for?•Telepresence and virtual reality
Advanced Tethered Vehicle (ATV)
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What are robots good for?•Telepresence and virtual reality
Advanced Robot and Telemanipulator System for Minimal Invasive Surgery(ARTEMIS)
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What are robots good for?•Augmentation of human abilities
Sigourney Weaver in the movie Aliens
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What are robots good for?•Augmentation of human abilities
General Electric’s Walking Truck
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What are robots made of?•Effectors: Tools for Action
•Locomotion
•Manipulation
•Sensors: Tools for perception
•Proprioception
•Force Sensing
•Tactile Sensing
•Sonar
•Camera Data
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What are robots made of?•Effectors: Locomotion
Carnegie Mellon’s Ambler
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What are robots made of?•Effectors: Locomotion
MIT’s 3D Hopper
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What are robots made of?•Effectors: Manipulation
Degrees of Freedom
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What are robots made of?•Sensors: Proprioception
MIT’s Spring Flamingo
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What are robots made of?•Sensors: Force Sensing
MIT’s Phantom
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What are robots made of?•Sensors: Tactile Sensing
MIT’s Planar Grasper
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What are robots made of?•Sensors: Sonar
ActivMedia’s Peoplebot
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What are robots made of?•Sensors: Light Sensors
Grey Walter’s Tortoise
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What are robots made of?•Sensors: Camera Data
The Johns Hopkins Beast
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What are robots made of?•Sensors: Camera Data
MIT’s Fast Eye Gimbals
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ArchitecturesThe architecture of a robot defines how the job of generating actions from percepts is organized. It is basically the control mechanism of the robot.
•Classical Architecture
•Situated Automata
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Architectures•Classical Architecture
A robot with classical architecture is given a number of low-level actions (LLAs). It then uses these LLAs to reason about the effects of performing a sequence of these LLAs.
The problem with this is that due to things like wheel slippage and measurement errors any lengthy sequence of actions is prone to fail.
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Architectures•Classical Architecture
SRI’s Shakey
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Architectures•Situated Automata
The process of deliberating is often too expensive to generate real-time behavior. Situated automata do not explicitly reason, they operate by reflex.
A situated automata has two parts. The first collects sensor inputs and updates the state register accordingly, the second looks at the state register and calculates output (actions). Thus a situated automata does not plan, it just does whatever it knows to do given the state it is in.
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Architectures•Situated Automata
SRI’s Flakey
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Configuration SpacesConfiguration Space is the path where robot can move from one position to another.
•Generalized configuration space
•Recognizable sets
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Generalized configuration space
Configuration Spaces
• Generalized configuration space includes other objects as part of the configuration, which could be movable, variable in shapes (i.e. scissors or staples), or deformable (i.e.string or paper).
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Recognizable Sets
Configuration Spaces
• Includes envelope of possible configurations
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Navigation and Motion Planning
• Cell decomposition
• Skeletonization
•Fine-motion (Bounder-error) planning
• Landmark-based navigation
• Online algorithms
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Navigation and Motion Planning
•Cell decomposition
• Breaks continuous space into a finite number of discrete search problems
Bell & Howell Mailmobile
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Navigation and Motion Planning
• Skeletonization methods
• Computes a one-directional “skeleton” (subset) of the configuration space, yielding an equivalent graph search problem
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Navigation and Motion Planning
• Fine-motion (Bounded-error) Planning• This methods assume bounds on sensor and actuator uncertainty, and in some cases can compute plans that are guaranteed to succeed even in the face of severe actuator
• partial knowledge of the environment is known to the system
• most of the planning is done offline
• used for planning small, precise motions of assembly
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Navigation and Motion Planning
• Landmark-based navigation
• This method assumes that there exists some regions in which the robot location can be pinpointed using landmarks, whereas outside those regions it may have only orientation information
• This method is both sound and complete
• The plan have at most n steps if there are n landmarks
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Navigation and Motion Planning• Online algorithm
• The robot makes decision at run time (no need for offline planning
•This method assumes that the environment is completely unknown
•The robot cannot see anything. It can only sense a boundary
• The robot is equipped with a position sensor and knows the location of its goal.
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The End