History and Philosophy of Robotics Laboratory for Perceptual - PDF document

Foundations of Robotics Rod Grupen Department of Computer Science University of Massachusetts Amherst Laboratory for Perceptual Robotics – Department of Computer Science History and Philosophy of Robotics Laboratory for Perceptual Robotics – Department of Computer Science 2

The Iliad (850 BC) a great epic describing the Trojan war, a world of mythical automata, where men do not act autonomously, but are instead controlled by Gods. Hephaestus, the divinity of mechanical arts and master of the forge, fabricates golden, three-legged automata with wheels that would mingle with other gods during get togethers and then return to their place and put themselves away. Statues that moved of their own accord were built by the legendary and mythical Daedalus (whose son was the famous Icarus), prototype of mechanical genius. Plato claimed that these statues had to be prevented from running away. Among them was a figure of Venus rendered mobile when quicksilver was poured into it according to Aristotle. Laboratory for Perceptual Robotics – Department of Computer Science 3 3 Aristotle Aristotle conceived of two kinds of knowledge: • one describing immortal, eternal principles, and • one grounded in embodiment the physical realm is constantly changing, and models of it are mediated by the value that they contribute to the agent. A form of dualism that Descarte would later pick up again. Laboratory for Perceptual Robotics – Department of Computer Science 4 4

Early Robots 1350 Rooster flapping wings and on top of Cathedral in Strasbourg, France 1497 Clock Tower in Piazza San Town Hall, Munich, Germany Marco, Venice, Italy Renaissance Laboratory for Perceptual Robotics – Department of Computer Science 5 5 Leonardo da Vinci in 1495: First Real Robot? Automaton may have looked like this… Vitruvian Man Laboratory for Perceptual Robotics – Department of Computer Science 6 6

Social Upheaval King Edward VI of England (1552) bans automatic machines for shearing sheep in order to preserve the livelihood of the peasant class. Later, his sister, Elizabeth I, outlawed the production of a loom for the same purpose. Both monarchs believed that these new technologies threatened to destabilize social structures. Laboratory for Perceptual Robotics – Department of Computer Science 7 Descartes (1596-1650) Duality: two parallel universes humans are machines, possessing an animal spirit that inhabits space and time to receive stimuli from the environment and produce motor responses. Humans are conscious and consciousness need not conform to physics the two universes interacted in the pineal gland to create the dual nature of the human condition. Laboratory for Perceptual Robotics – Department of Computer Science 8

Jacques de Vaucanson’s Duck (ca. 1738) Laboratory for Perceptual Robotics – Department of Computer Science 9 The Writer of Droz, 1774 Writer Draughtsman Laboratory for Perceptual Robotics – Department of Computer Science 10

Maillardet, 1805 Laboratory for Perceptual Robotics – Department of Computer Science 11 Maillardet, 1805 Laboratory for Perceptual Robotics – Department of Computer Science 12

Watt’s Governor (1788) Laboratory for Perceptual Robotics – Department of Computer Science 13 Galvani (1791) from the University of Bologna, was one of the first to conduct and experimental investigation of phenomenon known as bioelectrogenesis. electric current causes the contraction of the muscles in the leg of a frog when applied directly to the muscle or at a distance through a nerve. conceived of animal electricity - a fluid secreted by the brain that flows through nerves to activate muscles. Mary Shelley (1818) Laboratory for Perceptual Robotics – Department of Computer Science 14

Boilerplate, 1893 with Pancho Villa Laboratory for Perceptual Robotics – Department of Computer Science 15 15 Karel ! apek’s R.U.R., 1920 robot - from robota , meaning serf labor, drudgery, hard work, servitude Laboratory for Perceptual Robotics – Department of Computer Science 16 16

Westinghouse’s Electro, 1940 Laboratory for Perceptual Robotics – Department of Computer Science 17 17 Isaac Asimov: “Runaround,” 1942 0. A robot may not injure humanity or, through inaction, allow humanity to come to harm. (added after the initial three laws in Robots and Empire) 1. A robot may not harm a human being, or, through inaction, allow a human being to come to harm. 2. A robot must obey the orders given to it by human beings except where such orders would conflict with the First Law. 3. A robot must protect its own existence, as long as such protection does not conflict with the First or Second Law. Laboratory for Perceptual Robotics – Department of Computer Science 18

Shakey (SRI, 1968) and Mobie (Stanford,?) Laboratory for Perceptual Robotics – Department of Computer Science 19 Stanford Scheinman Arm,1969 Laboratory for Perceptual Robotics – Department of Computer Science 20 20

Star Wars - 1977 R2-D2 and C-3PO Laboratory for Perceptual Robotics – Department of Computer Science 21 PUMA, 1978 Joseph Engelberger Unimation’s Programmable Universal Machine for Assembly (PUMA) Laboratory for Perceptual Robotics – Department of Computer Science 22

Synthetic Psychology - 1984 Valentino Braitenberg Uphill Analysis Downhill Invention Laboratory for Perceptual Robotics – Department of Computer Science 23 Biomemetics: Lobster 1992 Joseph Ayers Northeastern full neural emulation Laboratory for Perceptual Robotics – Department of Computer Science 24

CMU Dante - 1993 exploring Antarctica's Mount Erebus volcano. Laboratory for Perceptual Robotics – Department of Computer Science 25 MIT Leg Lab - 1989-1995 Marc Raibert Laboratory for Perceptual Robotics – Department of Computer Science 26

Biomemetics Deaths Head Cockroach - 1998 death head cockroach full gait simulation full neural simulation Laboratory for Perceptual Robotics – Department of Computer Science 27 Commercial Toys 1999 1998 AIBO Furby $2000 $30 Laboratory for Perceptual Robotics – Department of Computer Science 28

Da Vinci Surgical Robot - ca. 2000 $1.2M Laboratory for Perceptual Robotics – Department of Computer Science 29 Market Acceptability - Roomba - 2002 inexpensive, reliable, functional Laboratory for Perceptual Robotics – Department of Computer Science 30

HONDA Asimo 1986 2012 maybe $500M! Laboratory for Perceptual Robotics – Department of Computer Science 31 DLR’s Justin - 2011 a mobile manipulator Laboratory for Perceptual Robotics – Department of Computer Science 32

Biomemetics: BigDog 2008-2012 Boston Dynamics Marc Raibert Laboratory for Perceptual Robotics – Department of Computer Science 33 Biomemetics: BigDog 2008-2012 Laboratory for Perceptual Robotics – Department of Computer Science 34

uBot: 2004-2012 a mobile manipulator a spatial Roger Laboratory for Perceptual Robotics – Department of Computer Science 35 uBot: 2004-2012 UMass Laboratory for Perceptual Robotics Laboratory for Perceptual Robotics – Department of Computer Science 36

The Organized Infant Landau Reflex - “superman” pose, legs reflexively drop down into flexion when the infant’s head is pushed down Laboratory for Perceptual Robotics – Department of Computer Science 37 Developmental Trajectory the inspiration for our sequential programming project hierarchy… Laboratory for Perceptual Robotics – Department of Computer Science 38

…we begin by studying the basic motor controllers that make the robot move…. Laboratory for Perceptual Robotics – Department of Computer Science 39 New Programming Paradigms Laboratory for Perceptual Robotics – Department of Computer Science 40