Acknowledgements INTRODUCTION. What is a robot? What is a robot

Transcription

1 Acknowledgements These slides are originally generated by Prof. Simon Parsons, which are heavily based on those provided by Roland Siegwart and Illah Nourbakhsh and provided along with the textbook. INTRODUCTION Naturally, all errors introduced are my responsibility. cisc3415-fall2013-ozgelen-lect01 2 What is a robot? So, whatdoyou think? What is a robot... a programmable, multifunction manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks Robot Institute of America (1980)...[a] physical agent thatperforms tasksby manipulating the physical world Russell and Norvig (2003). cisc3415-fall2013-ozgelen-lect01 3 cisc3415-fall2013-ozgelen-lect01 4

2 What is an agent? percepts What is mobile robotics? In mobile robotics this becomes three questions: Environment sensors actions effectors The fundamental question iswhatactions totake foragiven state of the environment. Where am I? Where am Igoing? How doiget there? This course is about answering those questions. cisc3415-fall2013-ozgelen-lect01 5 cisc3415-fall2013-ozgelen-lect01 6 Toanswer these questions the robothas to: Have amodel of theenvironment (given or autonomously built) Perceive and analyze the environment Find its position within the environment Plan and execute its movement In robotics terminology: Perception Localization Planning Navigation Mapping Today Introduce the basic problems of mobile robotics The basic questions Examples and challenges Introduce some basic terminology Environment representation and modeling Introduce the key challenges of mobile robot navigation Localization and map-building Plus some examples. cisc3415-fall2013-ozgelen-lect01 7 cisc3415-fall2013-ozgelen-lect01 8

3 What we won t be considering Applications Though there are problems in common. Indoor, structured environments: Transportation industry & service. Customer support, museums, shops. Research. Entertainment. Cleaning. Surveillence. cisc3415-fall2013-ozgelen-lect01 9 cisc3415-fall2013-ozgelen-lect01 10 Applications Outdoor, unstructured environments: Mining Space Demining Military Construction Search and rescue Underwater Applications The following are some deployed robots. cisc3415-fall2013-ozgelen-lect01 11 cisc3415-fall2013-ozgelen-lect01 12

4 Automatic Guided Vehicle Automatic Guided Vehicle Used totransport motor blocksfrom oneassembly station toan other. Guided by anelectrical wire installed inthe floorbutit isalsoable to leave the wire to avoid obstacles. cisc3415-fall2013-ozgelen-lect01 13 cisc3415-fall2013-ozgelen-lect01 14 Helpmate Helpmate Used in hospitals for secure transportation of items such as medication, samples (medical records, x-ray film). Not clear ifthe company (Pyxis) isstillin business. The ceiling camera isthe main sensorto localize the robot. cisc3415-fall2013-ozgelen-lect01 15 cisc3415-fall2013-ozgelen-lect01 16

5 Another hospital delivery robot BR700 cleaning robot Sold by Kärcher Inc. The navigation system is based on a sophisticated sonar system and agyro. Experimental delivery robot evaluated by healthcare company Kaiser Permanente. Doesn t seem to bein production any more. cisc3415-fall2013-ozgelen-lect01 17 cisc3415-fall2013-ozgelen-lect01 18 irobot Roomba Pioneer inspection robot Successful robotic vacuum cleaner 6million soldbymid2011 Simple, but effective, control strategy Touch sensors Sonar in the more advanced models Teleoperated robot used to inspect the sarcophagus at Chernobyl. cisc3415-fall2013-ozgelen-lect01 19 cisc3415-fall2013-ozgelen-lect01 20

6 Tiburon ROV Tiburon ROV Teleoperated robot used by the National Oceanic and Atmospheric Administration for underwater exploration Finding stuff like this. cisc3415-fall2013-ozgelen-lect01 21 cisc3415-fall2013-ozgelen-lect01 22 Sojourner Sojouner was deployed on Mars. irobot Packbot On Mars,teleoperation isabit ofahandicap. Why? A rugged, teleoperated platform for the military cisc3415-fall2013-ozgelen-lect01 23 cisc3415-fall2013-ozgelen-lect01 24

7 Pulstech Forester Aibo entertainment robot First industrial like walking robot. Leg coordination is automated, but human operator navigates. cisc3415-fall2013-ozgelen-lect01 25 cisc3415-fall2013-ozgelen-lect01 26 Aibo entertainment robot General control architecture cisc3415-fall2013-ozgelen-lect01 27 cisc3415-fall2013-ozgelen-lect01 28

8 General control architecture Approach: Classical Changing environment. No compact model available. Many sources of uncertainty. Complete modeling Function based Horizontal decomposition cisc3415-fall2013-ozgelen-lect01 29 cisc3415-fall2013-ozgelen-lect01 30 Approach: Behaviour-based Approach: Hybrid Sparse ornomodeling Behavior based Vertical decomposition Bottom up A combination ofthe above. Exactly the best waytocombine them nobody knows. cisc3415-fall2013-ozgelen-lect01 31 cisc3415-fall2013-ozgelen-lect01 32

9 The basic operations Map We start withwhatthe robotcan see. There are several forms this might take, but it will depend on: What sensors the robot has What features can be extracted. These are notaparticularly likely setof features. Amapthensays,forexample,howthesefeaturessitrelativetoone another. cisc3415-fall2013-ozgelen-lect01 33 cisc3415-fall2013-ozgelen-lect01 34 Localization A robot localizes by identifying features and the position in the map fromwhich itcould see them. Navigation Lanser et al(1996) Navigation isthen acombination of finding a path throughthe map... cisc3415-fall2013-ozgelen-lect01 35 cisc3415-fall2013-ozgelen-lect01 36

10 Navigation Research platforms The following are some experimental robots...and avoiding things thatget inthe way. cisc3415-fall2013-ozgelen-lect01 37 cisc3415-fall2013-ozgelen-lect01 38 Pioneer Khepera This Pioneer is a modular mobile robot offering various options like agripper oran onboard camera. Another research robot. Thistime abitover 2inches across. cisc3415-fall2013-ozgelen-lect01 39 cisc3415-fall2013-ozgelen-lect01 40

11 Surveyor Create A small(ish) platform equipped with webcam and A demilitarised version of the Roomba. cisc3415-fall2013-ozgelen-lect01 41 cisc3415-fall2013-ozgelen-lect01 42 PR2 CMU/NASA Nomad The PR2fromWillow Garage israpidly becoming anew research standard. A prototype autonomous Mars rover. cisc3415-fall2013-ozgelen-lect01 43 cisc3415-fall2013-ozgelen-lect01 44

12 DARPA Grand Challenge DARPA Urban challenge The Grand Challenge involved autonomous navigation through the desert. The Urban Challenge took this into traffic. cisc3415-fall2013-ozgelen-lect01 45 cisc3415-fall2013-ozgelen-lect01 46 Google Car Big Dog The Google car is intended to make this technology mainstream. Big Dog is intended to provide transportation for the military. cisc3415-fall2013-ozgelen-lect01 47 cisc3415-fall2013-ozgelen-lect01 48

13 Rescue robots Snake robots Urban search and rescue isanother area withlotsof activity. These are interesting for inspection tasks. cisc3415-fall2013-ozgelen-lect01 49 cisc3415-fall2013-ozgelen-lect01 50 Snake robots Fish robots Thisone moves morelike aworm. Fish areagoodmodel for robotsthattrack chemical sources in water. cisc3415-fall2013-ozgelen-lect01 51 cisc3415-fall2013-ozgelen-lect01 52

14 Fish robots Kismet Different models experiment with different forms of propulsion. Kismet wasdesigned to study theexpression ofemotion, an important aspect of human-robot interaction. cisc3415-fall2013-ozgelen-lect01 53 cisc3415-fall2013-ozgelen-lect01 54 Leonardo icat Leonardo is a move towards a complete expressive robot. icat is a commercially available platform for this kind of research. cisc3415-fall2013-ozgelen-lect01 55 cisc3415-fall2013-ozgelen-lect01 56

15 Wakamuru Humanoid robots Wakamuru isan early attempt tosell suchrobotsto awider audience. In Japan, inparticular, there isalotofinterest inhuman-like robots. cisc3415-fall2013-ozgelen-lect01 57 cisc3415-fall2013-ozgelen-lect01 58 Eldercare Humanoid robots Why? cisc3415-fall2013-ozgelen-lect01 59 cisc3415-fall2013-ozgelen-lect01 60

16 Humanoid robots Humanoid robots are a good fit for human environments. Kawada HRP3, capable of complex manipulation tasks cisc3415-fall2013-ozgelen-lect01 61 cisc3415-fall2013-ozgelen-lect01 62 Humanoid robots Humanoid robots Yaskawa Motoman SDA10 is similarly capable. Frankly,the resultsare abit weirdattimes. cisc3415-fall2013-ozgelen-lect01 63 cisc3415-fall2013-ozgelen-lect01 64

17 Robonaut Self-replicating robots NASA built Robonaut to demonstrate that a humanoid robot would be useful in space. Fromthe labof Hodd Lipson atcornell. cisc3415-fall2013-ozgelen-lect01 65 cisc3415-fall2013-ozgelen-lect01 66 Summary Thislecture haslooked atsome basicideas in the areaof mobile robotics. We identified the main problems tobe solved. The course will cover these topics. We also lookedatsome deployed robots. And considered arange ofrobotsthat represent the state ofthe art in robotics research. We willmeet many ofthese again laterin the course. cisc3415-fall2013-ozgelen-lect01 67