PSU Centaur Hexapod Project

Transcription

1 PSU Centaur Hexapod Project Integrate an advanced robot that will be new in comparison with all robots in the world Reasoning by analogy Learning using Logic Synthesis methods Learning using Data Mining methods Imitation and Interaction Use FPGAs and FPAAs Use faculty expertise High-school, undergraduate, graduate classes External collaborations with top groups

2 What we have? 1. Lower body (motors too weak) 2. Torso (no hands) 3. Head (no cameras yet) 4. Image Processing, Obstacle avoiding, navigation and planning from PSUBOT (not yet connected) 5. Speech analysis and synthesis software (from OGI) 6. Planning and obstacle avoiding software (separately developed) 7. Natural language conversation with text-to-speech 8. Machine Learning software (Grygiel, Files, Mishchenko) 9. Close collaboration with three top world researchers in robotics

3 Computer Vision PCB/FPGA Design Hall,Perkowski Xubo,Jabri, Hammerstrom Reinforcement Learning IC Design Song,Jeske,Perkowski Massey Neural Nets Lendaris Motor control DNF, Decision Trees, etc logic methods Song, Jeske,Mishchenko, Perkowski Decomposition Mishchenko, Perkowski Fuzzy Logic Lendaris, Perkowski Humanoid Robot Centaur Hexapod Game Theory Zwick Evolutionary Programming Greenwood Robot Mechanics Buller,DeGaris Tymerski Speech Synthesis and Analysis Hermansky and OGI Zielinska,Lentz, Barney,Wern Humanoid Robotics Project

4 Learning in Humanoid Robotics, as exemplified by Centaur Human faces Facial, hand, body gestures Own body movements - walk Own body movements - grasp learning Body Motors Smell actuators Music Synthesis Speaker - sound Own body movements - make faces Speech with emotion Natural language syntax Neural Nets Decomposition Fuzzy Logic Evolutionary Programming Reinforcement Learning DNF, Decision Trees, etc

5 Hardware Architecture of PSU s Hexapod Centaur Left eye TV camera Bi-Directional Radio sonar sonar Right eye TV camera Laser scanner Touch sensors Touch sensors PC laptop computer STAMP microcontroller Infrared sensors Infrared sensors Movement FPGAs Force sensors microphones microphones Speech and Music System with Analog FPGAs gyroscopes Smell actuators Music Synthesis Speaker PC network Super Joysticks TV screens Servo Controllers Servo Controllers Servo Controllers Servo Controllers Servo Controllers Servo Controllers Body Motors

6 Software Architecture of PSU s Hexapod Centaur Processing of sensor information Speech Analysis Visual Image Processing and Feature Extraction Sonar DSP and extraction Sensor integration Behavior Planning Library of high level behaviors Bi-Directional Radio Behavior execution Speech and Music Generation Smell synthesis Library of low level behaviors Servo Controllers Servo Controllers Servo Controllers Servo Controllers Servo Controllers Low level movement controls

7 Faster!! World Model MUVAL architecture Dual Trace Syntha Image Processing Mvgud Lotus FPGA programming Image Acquisition camera State machines Robot knowledge sensors

8 Hexapod I control - phase one stamp

9 Hexapod I control - phase two PC stamp radio radio

10 Hexapod I control - phase three camera radio radio Image grabber PC stamp radio radio

11 camera camera radio Hexapod I control - phase five: supercomputer radio DEC PERLE Universal Logic Machine DecStation stamp radio radio Turbochannel

12 Future work... Light weight! Robot Puppet Theatre Humanoid robot in human theatre - Faithful Robot by Stanislaw Lem

13 You can help... Robotics and Automation IEEE Society - the only student chapter in Oregon Go recruit to high schools Help to build one of our robots Perform in our theatre as radio-operator Classes in robotics and projects M.S. and Ph.D. theses Capstone Projects

14 Building a head

15 Clone your head in 8 easy steps 1. Cut the skull from playwood or plastic 2. Glue in the servos 3. Connect servos to interface 4. Program for your head movements (use ready C++ interface or Basic interface) 5. Make a latex mask of your face 6. Put the mask on the skull 7. Record your voice 8. Synchronize

16 Who will be cloned first? Dr. Hall Dr. Lendaris Dr. Greenwood Dr. Mishchenko Mrs. Jady Bates Dr. Perkowski

17 How to animate limbs?

18 Goboy In 1992, Garvey initiated a form of humorous, non-violent guerrilla warfare against the so-called artworld, playground of the paranoid, narcissistic and vacuous rich. He unleashed his robot panhandler Goboy on places of institutional power such as museums, symphony halls, opera houses and shopping malls, and videotaped the astonishing results. These records of the notorious unannounced (and most-times unwelcome) visits of Omnicircus robots have become legendary comic critiques of our triviabesotten times.

19 This is Slave Zero, a halfscale robotic actor with 21 servo actuators & 42 degrees of freedom. Designed and built by Carl Pisaturo in , shown here with sculpted body panels by Frank Garvey. She and a mate are blurring the boundaries between sculpture, dance and theater while extending the language of each.

20 Prototype of future walking robot We take ideas from Honda, Elvis and several other robots

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22 Specifics Inexpensive techniques PC + micro-controllers + FPGA/FPAA boards for Lattice Corporation R/C servos Serial communication Standard Intel Cameras 3-D mouse for balance A mixture of Lisp and Visual C++

23 Control Architecture Reasoning Model Building Reactive Control Differs from human

24 Senses Vision Hearing Balance Pressure sensors (Cannot smell and taste..:)

25 Experiments Balance Walking Navigation Hearing Vision Manipulation Planning

26 Experimental set-up of Elvis

27 Give me a hand...

28 Hand..two fingers and a thumb...

29 Controller card on leg

30 Foot

31 Balance Two Electronic Gyros (From 3-D mouse)

32 Knee

33 Head and ears:

34 Shoulder

35 Hip and arm

36 Controller card Own construction Controls 8 servos Read 8 A/D ports Serial communication Cascade serial bus Can close servos down

37 Experiments Balance (First experiments performed) Hearing (Direction of sound) Vision (3-D Map) Planning (Path planning)

38 Building humanoid robots is tough but it can be done in University environment We plan to accomplish several tasks from very simple to very complicated High school students, hobbyists, undergraduate and graduate students, visiting specialists and faculty will be working arm-by-arm to accomplish practical goals.