On-demand printable robots
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1 On-demand printable robots Ankur Mehta Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology
2 3 Computational problem?
3 4 Physical problem? There s a robot for that.
4 5 Robot compiler Vision: Autonomously generate designs for personal robots Big picture goal: $ vim myrobot.rbt I want a robot to make me breakfast $ make myrobot Parsing specification done. Determining behaviors done. Generating mechanisms done. Assembling components done. Printing done. Success!
5 6 Challenges Subsystem integration
6 7 Application space Users Constraints
7 8 Related work Rapid fabrication 3D printing: Mavroidis et al., J. Mech. Des. 01; Lipson et al., J. Mech. Des. 05; Rossiter et al., SPIE Smart Struct. and Mat. 09; and others 2D printing: Shimoyama et al., Control Systems 93, Hoover et al., ICRA 08; Onal et al., Trans. Mechatronics 13; and others Requires domain specific expertise and CAD tools
8 9 Related work Modular design of robots Farritor et al., ICRA 96; Hornby et al., IEEE Trans. Robotics and Automation 03; Davey et al., IROS 12; Romanishin et al., IROS 13; and others. Employs expensive custom components with limited configurations
9 10 Goal Enable the on-demand creation of custom printable electromechanical systems Design intuitively Fabricate cheaply Iterate rapidly
10 An Expedition in Computing for compiling printable programmable machines
11 12 Task definition + decomposition Functional decomposition Robot compiler: design flow Input: high level task specification I want a robot to play chess Output: functional specification Mobility across a 50cm x 50cm square with obstacles Ability to move pieces Knowledge of chess rules
12 13 Task definition + decomposition Functional decomposition Modular composition Unified mechanism Robot compiler: design flow Input: functional specification Output: modular definition Chassis Motorized legs Gripper Power, processing, communication Chess logic
13 14 Task definition + decomposition Functional decomposition Modular composition Unified mechanism Co-design implementation Parameterized model Robot compiler: design flow Input: modular definition Output: parameterized robot design Mechanical template Electromechanical transducers Electrical connectivity Algorithms
14 15 Task definition + decomposition Functional decomposition Modular composition Unified mechanism Co-design implementation Parameterized model Fully specified design Realization Structural constraints Robot compiler: design flow Input: parameterized robot design Output: fabrication plan Fold pattern Circuit layout and specific components Executable drivers, software, and user interface
15 16 Task definition + decomposition Functional decomposition Modular composition Unified mechanism Co-design implementation Parameterized model Structural constraints Robot compiler: design flow Input: fabrication plan Output: physical device Folded robot with circuit, firmware, and software Realization Fully specified design Fabrication Robot
16 17 Task definition + decomposition Robot compiler: design flow Functional decomposition Modular composition Unified mechanism Co-design implementation Parameterized model Realization Structural constraints Behavioral constraints Input: physical device Output: mission accomplished! Fully specified design Fabrication Robot Operation
17 18 Task definition + decomposition Current system Functional decomposition Modular composition Unified mechanism Co-design implementation Parameterized model Fully specified design Realization Structural constraints Behavioral constraints Input: structural specification Output: robot designs Directly fabricable mechanical drawings Wiring diagram Arduino firmware Android UI Fabrication Robot Operation
18 19 A real world example Request: We need a robot In ascii art form it is: X t where is a rotational axis, and t is the tool. rotating joint ActuatedHinge the tool ActuatedGripper ~1 hour later Arm = ActuatedHinge + ActuatedHinge + ActuatedGripper
19 INTEGRATED CO-DESIGN Ankur Mehta 20
20 21 On-demand printed robots + + Conceive Determine Assemble new Compile, print and electromechanical components functional from run! decomposition mechanism library
21 22 Software defined hardware Parameterized, process independent representation Object oriented code abstraction of design modules Algorithms to generate fabricable drawings
22 24 Library of components Mechanical building blocks Electrical building blocks Software building blocks UI elements
23 25 Composition algorithms Hierarchical composition across subsystems Computation for combining functionality of modules
24 26 Hierarchical design composition { Subcomponents } { Parameters } { Interfaces } Inherited by default Can be specified by imposing constraints
25 Hierarchical design composition Ankur Mehta 28
26 30 Full system
27 31 Lets make robots!
28 ROBOT COMPILER USERS Ankur Mehta 32
29 33 Design paradigm User selects desired geometries with degrees of freedom and their ranges. Standard user: assembles building blocks (GUI) Expert user: can generate building blocks (Python)
30 34 ROSLab design environment Graphical programming language Automatic modular code generation
31 Robot design Ankur Mehta 35
32 36 Designed robots
33 37 Designed robots
34 38 FABRICATION-INDEPENDENT DESIGN
35 39 Robot fabrication: 3D print
36 40 Robot fabrication: 3D print
37 41 Robot fabrication: 3D print Pros: Cons: Minimal user assembly / post fabrication processing Strong rigid bodies Long fabrication time Minimal compliance
38 42 Robot fabrication: cut-and-fold
39 43 Robot fabrication: cut-and-fold
40 44 Robot fabrication: cut-and-fold
41 45 Robot fabrication: cut-and-fold Pros: Cons: Cheap and universally fabricable Controlled compliance Requires post-process assembly Weak structures
42 46 Robot fabrication: self-folding
43 47 Robot fabrication: self-folding
44 48 Robot fabrication: self-folding Pros: Cons: Fast fabrication time with low user-driven assembly Both rigid and flexible elements Large tolerances Design compromises
45 49 One design, four robots
46 New hybrid processes Ankur Mehta 50
47 APPLICATION PROGRAMMING Ankur Mehta 52
48 53 Task definition + decomposition Robot programming Functional decomposition Modular composition Unified mechanism Co-design implementation Parameterized model Structural constraints Behavioral constraints Autonomous behaviors Feedback controllers Task driven programs Realization Fully specified design Fabrication Robot Operation
49 54 Autogenerated user interface Motor mount Motor PWM driver Drive unit UI Joystick Left wheel Right wheel
50 55 Programmed autonomy Light sensor Left speed Right speed Left wheel Right wheel
51 56 Task definition + decomposition Current work Functional decomposition Modular composition Co-design implementation Realization Structural constraints Behavioral constraints Verification & validation Kinematic simulations REACT programming Derive behavior from designs Ensure that the output matches the desired input Fabrication Robot Operation
52 57 Algorithmic questions Provably correct composition for integrated designs Optimality bounds for composed designs Functional decomposition Fabrication specifications Efficiency metrics Computation Task completion
53 58 Task definition + decomposition Future work Functional decomposition Modular composition Unified mechanism Co-design implementation Parameterized model Realization Structural constraints Behavioral constraints How do we identify which mechanisms will accomplish desired functions? Fully specified design Fabrication Robot Operation
54 59 Task definition + decomposition Future work Functional decomposition Modular composition Unified mechanism Co-design implementation Parameterized model Fully specified design Realization Structural constraints Behavioral constraints How do we identify which mechanisms will accomplish desired functions? How do we identify what functions are required for a given task? Robot programming language Fabrication Robot Operation
55 61 Robots!
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