COMP 150: Developmental Robotics Instructor: Jivko Sinapov www.cs.tufts.edu/~jsinapov
This Week ● Behavior-Based Robotics ● Getting started with robot simulators ● What makes a good project?
Office Hours Change ● This Week: Thursday noon – 2 pm
Homework 1 due on Thursday ● Solution should be in PDF format ● LastnameFirstname_HW1.pdf ● Due Thursday Sept 21 st by midnight ● Send by email to jsinapov@cs.tufts.edu subject: [comp150] ...
Reading Assignment 3
Robot Simulators using ROS
Getting Started... ● Get Ubuntu 16.04 LTS – Dual boot – Virtual machine ● Check your architecture (32 bit or 64 bit) and download the appropriate .iso file ● Beginner’s guide to Ubuntu Linux: – http://www.makeuseof.com/tag/ubuntu-an-absolute- beginners-guide/
Ok, then what? ● Install ROS – http://wiki.ros.org/kinetic/Installation – If using Ubuntu 16.04, then use ROS kinetic – If using Ubuntu 14.04, then use ROS indigo
What is ROS?
What is ROS? “ROS (Robot Operating System) provides libraries and tools to help software developers create robot applications . It provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management , and more . ROS is licensed under an open source , BSD license.”
First Steps in ROS ● Tutorials: – http://wiki.ros.org/ROS/Tutorials ● Turtlesim: – http://wiki.ros.org/turtlesim
Turtlesim + Kinect [https://www.youtube.com/watch?v=E9TJ0c8ufzM]
Turtlebot Simulator http://wiki.ros.org/turtlebot_simulator
Demos with Turtlesim
Baxter Simulator http://sdk.rethinkrobotics.com/wiki/Baxter_Simulator
Baxter Simulator Demo
Take-home Message Getting into robotics has never been easier! If you’re considering using a robot simulator for your project, now is the time to explore! There are many other simulators out there in addition to ROS and Gazebo
Behavior-Based Robotics
Teleoperation
Teleoperation
Teleoperation
Teleoperation
Teleoperation
Teleoperation
Robotics Timeline
Teleoperation vs Telepresence ● An early attempt to improve teleoperation was to add more cameras / displays ● Telepresence aims for placing the operator in a virtual reality that mimics the robot's surroundings
Telepresence Robots http://www.pilotpresence.com/wp-content/uploads/2011/01/remote-presence-systemsv2.jpg
The need for (semi-) autonomy
How should autonomy be achieved and organized?
Robot Primitives
The Early Answer (1967): Sense-Plan-Act
The Early Answer (1967): Sense-Plan-Act
The Early Answer (1967): Sense-Plan-Act
Early Example of S-P-A
Early Work on Planning
Early Work on Planning
Early Work on Planning
Early Work on Planning
A More Realistic Example
A More Realistic Example
A More Realistic Example
A More Realistic Example IT Is INROOM(IT,R1) true or false? CONNECTS(D1,R1,R2)? INROOM(IT,R2)?
Representing Initial State IT
Representing Goal State IT
The “difference” table
Logical Difference or
Finding the Plan
Discussion ● How did you solve the problem? ● What are some limitations of planning with STRIPS? ● Where do the predicates, operators, etc. come from?
Then comes Rodney Brooks...
GOFAI ● GOFAI : good old-fashioned artificial intelligence ● Typically implemented as a central planner operating on a set of symbols (predicates) ● Tools : logic, predicate logic, PROLOG, Search algorithms, etc. ● Solution: sense → model → plan → act
Brooks' opinion: GOFAI failed
Abstraction is a dangerous weapon
Toy worlds vs. Real worlds
Toy worlds vs. Real worlds
Brook's opinion: GOFAI failed
Alternatives to Sense-Plan-Act Sense-Plan-Act Hybrid Reactive
Reactive Paradigm
The Hybrid Paradigm
Deliberative vs. Reactive [ Arkin, 1998]
Words of Wisdom
Where is Brooks now?
Next Time... ?
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