Designing Robot Collectives

Transcription

1 Designing Robot Collectives by Kirstin Petersen July 2017

2 Motivation January 2004 Distance to Mars: M miles Travel time: days Cost: $1B April 2009

3 Designing Robot Collectives Instead of sending one, we could send collectives! Robustness Efficiency Capability

4 Robot Collectives Success Stories! Still challenging to operate collectives to make capable, expendable robots to coordinate collectives 1000 Kilobots, Harvard, 2014 Amazon Robotics, automated warehouses 103 drones in flight Dr. Timothy Chung, DARPA

5 Designing Robot Collectives Control (Remote Controlled) (Exact number) Hardware (Stationary) HOLLISTIC DESIGN APPROACH SOFTWARE HARDWARE ENVIRONMENT RELIABILITY ERROR TOLERANCE Scalable Error Tolerance Capability Cost Autonomy/ Taskability Maintenance

6 Designing Robot Collectives Swarm Support Systems Coordination in Nature Collective Construction Soft Robots Natural Mechanisms

7 Designing Robot Collectives Swarm Support Systems Coordination in Nature Collective Construction Soft Robots Natural Mechanisms

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9 Macrotermes Studies with Dr. Paul Bardunias, Dr. Justin Werfel, Prof. Radhika Nagpal, Prof. Nils Napp, Prof. Scott Turner Decentralized Parallelism Simple agents Simple environment Error tolerant Guaranteed highlevel outcome

10 Termite-Inspired Collective Construction with Dr. Justin Werfel and Prof. Radhika Nagpal, Harvard Decentralized Parallelism Simple agents Simple environment Error tolerant Guaranteed highlevel outcome

11 TERMES Algorithms with Dr. Justin Werfel and Prof. Radhika Nagpal, Harvard +internal rule set No gaps No cliffs user input (blueprint) Arbitrary number of robots Off-line compiler step generates traffic patterns compiler output decentralized construction Werfel, J, K Petersen, & R Nagpal Distributed Multi-Robot Algorithms for the TERMES 3D Collective Construction System. Workshop, Intl. Conference on Robots and Systems (IROS).

12 TERMES Implementation with Dr. Justin Werfel and Prof. Radhika Nagpal, Harvard Locomotion Co-Design & Error Tolerance Coordination Navigation Control Manipulation Fabrication 10cm Petersen, Kirstin, Radhika Nagpal, and Justin Werfel. "Termes: An autonomous robotic system for threedimensional collective construction." Proc. Robotics: Science & Systems VII (2011).

13 TERMES Locomotion with Dr. Justin Werfel and Prof. Radhika Nagpal, Harvard

14 TERMES Navigation with Dr. Justin Werfel and Prof. Radhika Nagpal, Harvard 3 actuators Infrared (pattern recognitioning) Accelerometer (climbing) Tactile sensing (brick manipulation) Ultrasound (wall following/avoidance) Control by simple FSM

15 TERMES Summary with Dr. Justin Werfel and Prof. Radhika Nagpal, Harvard Minimalist solution through embodied intelligence and error tolerant control Werfel, J, K Petersen, & R Nagpal Designing collective behavior in a termite-inspired robot construction team. Science 343(6172): (2014).

16 Designing Robot Collectives Control (Remote Controlled) (Exact number) Andreen, D, P. Jenning, N. Napp, and K. Petersen Emergent Structures Assembled by Large Swarms of Simple Robots. ACADIA // 2016, pp Scalable Autonomy/ Taskability Error Tolerance Hardware (Stationary) Capability Cost Maintenance

17 Designing Robot Collectives Control (Remote Controlled) (Exact number) Spröwitz, A., Göttler, C., Sinha, A., Caer, C., Oztekin, M. U., Petersen, K., & Sitti, M. Scalable Pneumatic and Tendon Driven Robotic Joint Inspired by Jumping Spiders. ICRA Autonomy/ Taskability Scalable Error Tolerance Hardware (Stationary) Capability Cost Maintenance

18 Designing Robot Collectives Swarm Support Systems Coordination in Nature Collective Construction Soft Robots Natural Mechanisms

19 Soft Robot Collectives Operation in unstructured terrain Resilient Inexpensive Compliant and safe D. discoideum (slime mold) Bonner, Princeton, 1984

20 Soft Robot Collectives Compact, simple, soft actuator with large, stable, and repeatable shape changes. Dielectric Elastomer Actuators OF F Compliant electrode Elastomer Hines*, L, Petersen*, K. and Sitti, M. (2016) Inflated Soft Actuators with Reversible Stable Deformations. Advanced Materials, 28(19), "Asymmetric Stable Deformations in Inflated Dielectric Elastomer Actuators. Intl. Conf. of Robotics and Automation, ON F DEA Hyperelastic Materials Pressure V STABLE STATES Volume

21 Designing Robot Collectives Control (Remote Controlled) (Exact number) Scalable Autonomy/ Taskability Error Tolerance Hardware (Stationary) Capability Cost Maintenance *Guestimates!

22 Daniel Kim, Ryan O Hern, Claire Chen, Kirstin Petersen, Vaidehi Patel, Yanir Nulman, Aasta Gandhi, Asena Ulug, Yejing Wang, Tim Duggan, Owen Hua, Yawen Deng, Mateo Espinoza, and Lawrence Chen