Advanced Robotics Introduction
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1 Advanced Robotics Introduction Institute for Software Technology 1
2 Agenda Motivation Some Definitions and Thought about Autonomous Robots History Challenges Application Examples 2
3 Bridge the Gap Mobile Robots / Kinematics and Robotics basic concepts basic sensors transformations kinematics Advanced Robotics provides the glue, e.g. architectures, navigation, grasping, Construction of Mobile Robots lab-based work on intelligent robots Expert Systems / Advanced Topics of AI high-level control 3
4 We have gone some (long) way 4
5 But we want to have even cooler and more clever robots reasoning and planning 5
6 Some Definitions and Thoughts Definition (Brady): Robotics is the intelligent connection of perception to action. Definition (Murphy): AI robotics is the application of AI to robotics. Robots mainly had been developed in two directions: Industrial Robots Intelligent Robots, start to merge An Intelligent System performs useful functions by desired goals and current knowledge. Rational agents are doing the right thing. Autonomous Robots are (too) complicated. (Sometimes) a little bit ad-hoc. 6
7 Some (of my favorite) Milestones in Robotics 7
8 Ancient Programmable Robot by Hero from Alexandria around 60 AD three-wheeled cart powered by lifted weight on a robe programmed by winding the robe around the axle of the cart allows a differential drive changing direction of winding allows different movements 8
9 by Leonardo da Vinci around 1495 was able to stand sit open its visor move its arms early prototype of a humanoid robot rebuild from a Vinci s sketchbook Robot Knight 9
10 Duck of Vaucanson an complex artificial duck build by Jacqes de Vaucanson in 1738 pure mechanical it was able to quack flap its wings drink water eat digest masterpiece of engineering 10
11 Early Autonomous Robots simple electromechanicalmechanical creatures by William Grey Walter around 1948 some simple sensors, motors and some vacuum tubes ( neurons ) called turtle (Elmer and Elsie) resembles emerging behavior able to perform simple behaviors search for light flee from light 11
12 Unimate first industrial robot patented 1961 (idea around 1950) first applied by General Motors for handling of die castings weight of 4000 lbs was able to perform one specific task used no sensors 8500 units sold 12
13 First AI Robot - Shakey developed at Stanford Research Institute (SRI) moved boxes in an office environment by Nils Nilsson and colleagues used STRIPS and A* planning used a onboard and a external computer ~300k word program (LISP) 13
14 Early Outdoor Robot named Stanford Cart by Stanford AI Lab (Sail) long history ( ) started for remote control vehicle research, e.g. on moon (speed ~ 10cm/s) 1963 an analog computer was added as predictor later it was able to follow a white line and traverse a room with an external computer 14
15 NavLab is a series of autonomous vehicles started 1984 by CMU robotics institute able to autonomously drive along a road around 1990 used always latest sensor equipment color cameras, 3d laser scanner, surprisingly low computational power 15
16 Mars Exploration Rover (MER) longest serving (autonomous) robots planned for 90 day in service since Q semi-autonomous daily mission plan upload by scientists and engineers complex scientific payload extreme conditions and constrains, e.g. temperature, communication and power twins Spirit (silent since ), Opportunity still in service 16
17 TUM-Rosie developed by TU München IAS aim is to assist in a kitchen environment a huge sensor suite, mainly depth and 3d sensing agile, 2 arms, 2 hand and omni-platform advanced 3d object recognition and path planning robust and intelligent mission planning 17
18 Atlas advanced humanoid robot developed by Boston Dynamics remarkable capabilities walking running climbing stairs avoiding holes in the ground no high-level control at the moment robot for the DARPA Robotics Challenge 18
19 The world is quite simple percepts Sensors Agent Environment? Actuators actions 19
20 Other Agent or not Unexpected Events Uncertainty & Noise percepts Sensors Agent Other Agent Environment? Actuators actions Incomplete or Wrong Knowledge Other Agent Uncertainty & Noise 20
21 Challenges Computer Vision Planning and Decision Making Human -Robot Interaction 3D Object Recognition Sensors Localization Mapping Knowledge Representation Machine Learning Knowledge Acquisition Reasoning and Interpretation Dependability Path Planning and Navigation Grasping and Manipulation Actuators 21
22 Application Areas Lab Accepted Adopted 22
23 Literature R. Siegwart and I. Nourbakhsh. Introduction to Autonomous Mobile Robots. MIT Press R. Murphy. Introduction to AI Robotics. MIT Press S. Thrun, W. Burgard and D. Fox. Probabilistic Robotics. MIT Press B. Siciliano and O. Khatib. Handbook of Robotics. Springer
24 Questions? Thank you! 24
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