Robotics Robotics 8.1 8.1 What are Robots Good For? What are - PDF document

Chapter 8 8 Chapter 8. 8. Robotics Robotics Introduction Introduction Robotics Robotics 8.1 8.1 What are Robots Good For? What are Robots Good For? —————————————— —————————————— 8.2 8.2 What are Robots Made Of? What are Robots Made Of? 8.3 8.3 Architectures Architectures Classic Architecture Classic Architecture Situated Automata Situated Automata Christian Jacob Christian Jacob 8.4 Configuration Spaces 8.4 Configuration Spaces jacob@cpsc.ucalgary.ca 8.5 Navigation and Motion Planning 8.5 Navigation and Motion Planning 8.6 More Robot Examples 8.6 More Robot Examples Department of Computer Science University of Calgary Introduction Introduction The Physical World The Physical World •Robot Institute of America defines a robot as a •The physical world is very demanding, it is: reprogrammable, multifunction manipulator • inaccessible - sensors are imperfect, only stimuli that designed to move material, parts, tools or specific are near the agent can be perceived. devices through variable programmed motions for • nondeterministic - a robot needs to deal with the performance of a variety of tasks . uncertainty •Russell and Norvig: an active, artificial agent • nonepisodic - effects of an action change over time whose environment is the physical world . • dynamic - robot needs to decide when to think and •Robots differ from Softbots whose environment when to act immediately consists of computer systems, databases and • continuous - states and actions are drawn from a networks. continuum of physical configurations and motions What are robots good for? What are robots good for? 8. 8. Robotics Robotics •Manufacturing and materials handling Introduction Introduction 8.1 8.1 What are Robots Good For? What are Robots Good For? 8.2 8.2 What are Robots Made Of? What are Robots Made Of? 8.3 8.3 Architectures Architectures Classic Architecture Classic Architecture Situated Automata Situated Automata 8.4 8.4 Configuration Spaces Configuration Spaces 8.5 8.5 Navigation and Motion Planning Navigation and Motion Planning 8.6 More Robot Examples 8.6 More Robot Examples

What are robots good for? What are robots good for? What are robots good for? What are robots good for? •Gofer robots •Gofer robots Carnegie Mellon’s Nomad Bell & Howell Mailmobile What are robots good for? What are robots good for? What are robots good for? What are robots good for? •Hazardous environments •Hazardous environments Dante II Frame Walking Robot Lunokhod Moon Robot What are robots good for? What are robots good for? What are robots good for? What are robots good for? •Telepresence and virtual reality •Telepresence and virtual reality The Wheelbarrow, a bomb disposal robot Advanced Tethered Vehicle (ATV)

What are robots good for? What are robots good for? What are robots good for? What are robots good for? •Telepresence and virtual reality •Augmentation of human abilities Advanced Robot and Telemanipulator System for Minimal Invasive Surgery (ARTEMIS) Sigourney Weaver in the movie Aliens What are robots good for? What are robots good for? 8. Robotics 8. Robotics •Augmentation of human abilities Introduction Introduction 8.1 What are Robots Good For? 8.1 What are Robots Good For? 8.2 What are Robots Made Of? 8.2 What are Robots Made Of? 8.3 Architectures 8.3 Architectures Classic Architecture Classic Architecture Situated Automata Situated Automata 8.4 8.4 Configuration Spaces Configuration Spaces 8.5 8.5 Navigation and Motion Planning Navigation and Motion Planning 8.6 8.6 More Robot Examples More Robot Examples General Electric’s Walking Truck What are robots made of? What are robots made of? What are robots made of? What are robots made of? •Effectors: Tools for Action •Effectors: Locomotion •Locomotion •Manipulation •Sensors: Tools for perception •Proprioception •Force Sensing •Tactile Sensing •Sonar •Camera Data Carnegie Mellon’s Ambler

What are robots made of? What are robots made of? What are robots made of? What are robots made of? •Effectors: Locomotion •Effectors: Manipulation Degrees of Freedom MIT’s 3D Hopper What are robots made of? What are robots made of? Haptics Haptics •Sensors: Proprioception ❏ MIT Touch Lab MIT Touch Lab ❏ MIT’s Spring Flamingo What are robots made of? What are robots made of? What are robots made of? What are robots made of? •Sensors: Force Sensing •Sensors: Tactile Sensing MIT’s Phantom MIT’s Planar Grasper

What are robots made of? What are robots made of? What are robots made of? What are robots made of? •Sensors: Sonar •Sensors: Light Sensors Grey Walter’s Tortoise: Machina Speculatrix ActivMedia’s Peoplebot What are robots made of? What are robots made of? What are robots made of? What are robots made of? •Sensors: Camera Data •Sensors: Camera Data MIT’s Fast Eye Gimbals The Beast: Johns Hopkins University Architectures Architectures 8. 8. Robotics Robotics The architecture of a robot defines how the job of Introduction Introduction generating actions from percepts is organized. It is basically the control mechanism of the robot. 8.1 8.1 What are Robots Good For? What are Robots Good For? 8.2 8.2 What are Robots Made Of? What are Robots Made Of? •Classical Architecture 8.3 8.3 Architectures Architectures •Situated Automata Classic Architecture Classic Architecture Situated Automata Situated Automata 8.4 8.4 Configuration Spaces Configuration Spaces 8.5 8.5 Navigation and Motion Planning Navigation and Motion Planning 8.6 More Robot Examples 8.6 More Robot Examples

Architectures: Classical Architecture Architectures Architectures: Classical Architecture Architectures •A robot with classical architecture is given a •Classical Architecture 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. SRI’s Shakey Architectures: Situated Automata Architectures: Situated Automata Architectures Architectures •The process of deliberating is often too expensive •Situated Automata 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 SRI’s Flakey does whatever it knows to do given the state it is in. Configuration Spaces Configuration Spaces 8. 8. Robotics Robotics Configuration Space is the path where a robot can move from one position to another. Introduction Introduction •Generalized configuration space 8.1 8.1 What are Robots Good For? What are Robots Good For? 8.2 8.2 What are Robots Made Of? What are Robots Made Of? •Recognizable sets 8.3 8.3 Architectures Architectures Classic Architecture Classic Architecture Situated Automata Situated Automata 8.4 8.4 Configuration Spaces Configuration Spaces 8.5 8.5 Navigation and Motion Planning Navigation and Motion Planning 8.6 More Robot Examples 8.6 More Robot Examples

Configuration Spaces Configuration Spaces Configuration Spaces Configuration Spaces Generalized configuration space Recognizable Sets Includes envelope of possible configurations Includes envelope of possible configurations ❏ ❏ Generalized configuration space includes other objects as part of the includes other objects as part of the Generalized configuration space ❏ ❏ configuration, which could be movable, variable in shapes (i.e. configuration, which could be movable, variable in shapes (i.e. scissors or staples), or deformable (i.e., string or paper). scissors or staples), or deformable (i.e., string or paper). Navigation and Motion Planning Navigation and Motion Planning 8. Robotics 8. Robotics • Cell decomposition • Skeletonization Introduction Introduction • Fine-motion (bounder-error) planning 8.1 What are Robots Good For? 8.1 What are Robots Good For? • Landmark-based navigation 8.2 What are Robots Made Of? 8.2 What are Robots Made Of? 8.3 Architectures 8.3 Architectures • Online algorithms Classic Architecture Classic Architecture Situated Automata Situated Automata 8.4 8.4 Configuration Spaces Configuration Spaces 8.5 8.5 Navigation and Motion Planning Navigation and Motion Planning 8.6 8.6 More Robot Examples More Robot Examples Navigation and Motion Planning Navigation and Motion Planning Navigation and Motion Planning Navigation and Motion Planning •Cell decomposition • Skeletonization methods • Breaks continuous space into a finite number of • Computes a one-directional “skeleton” (subset) of the configuration space, yielding an equivalent graph discrete search problems search problem Bell & Howell Mailmobile