Advanced Robotics Introduction

Transcription

1 Advanced Robotics Introduction Institute for Software Technology 1

2 Motivation Agenda Some Definitions and Thought about Autonomous Robots History Challenges Application Examples 2

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4 we want to have cooler and more clever robots reasoning and planning 4

5 Some Definitions 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 5

6 Some Thoughts 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 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 7

8 Some (of my favorite) Milestones in Robotics 8

9 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 (youtube) 9

10 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 10

11 an complex artificial duck Duck of Vaucanson build by Jacqes de Vaucanson in 1738 pure mechanical it was able to quack flap its wings drink water eat digest masterpiece of engineering 11

12 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 12

13 first industrial robot Unimate 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 13

14 developed First AI Robot - Shakey 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) 14

15 named Stanford Cart Early Outdoor Robot 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 15

16 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 16

17 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 extreme conditions and constrains temperature communication power twins spirit & opportunity 17

18 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 18

19 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 19

20 Robotics is Easy perception modelling control behavior domain model environment model information extraction raw data planning task cognition reasoning path planning navigation path execution actuator commands sensing environment/world acting 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