CMRoboBits: CMRoboBits: Creating an Intelligent AIBO RobotCreating an Intelligent AIBO Robot

Instructors: Prof. Manuela Veloso & Scott Lenser

TAs: Douglas Vail & Nick Aiwazian

Further Support: Dr. Paul Rybski, Sonia Chernova

15-491, Fall 2003

http://www.andrew.cmu.edu/course/15-491

Computer Science Department

Carnegie Mellon

Why This New Course?Why This New Course?

Our robot soccer experience – Long: since 1996– Diversified: simulation, small-size, Sony 4-legged– Hard work, frustration, fun, struggle, success– A LOT learned on:

Creating teams of complete intelligent robots.

Legged Robots Legged Robots Remarkable hardware - SONY AIBO

robots

Intelligent Complete RobotIntelligent Complete Robot

Action

Actuators

Perception

External World External World

Sensors

Cognition

Autonomy Autonomy

Perception– sensing, modeling of the world

Cognition– behaviors, action selection, planning, learning– multi-robot coordination, teamwork– response to opponent, multi-agent learning

Action– motion, navigation, obstacle avoidance

Perception: VisionPerception: VisionReal-time and robust Effective calibrationColored blobs

identified as objectsConfidence computed

Cognition: BehaviorsCognition: Behaviors

Score Search

Approach

Recovernot see ball

next to ball

not see ball not see ball

timeout

see ballnot next to ball

Action: MotionAction: Motion

Four-legged walkingHead motionTurning, kicking

What is This New Course?What is This New Course?

Beyond robot soccerCMRoboBits:

– From CMPack, break into modular robot “bits”– Learn the CMRoboBits within a concrete robot

AIBO– Commercially available to the public since June’02– Robust hardware, modular software

The SyllabusThe Syllabus

SensorsBasic behaviorsMotionVisionLocalizationComplex behaviorsMulti-robot behaviors

The EvaluationThe Evaluation

Weekly homeworks– hands-on lab work with the AIBO robots– some also include written questions

One final project Homeworks: 75% Final project: 25% Groups of 2 or 3 students: each student in the group

must be fully responsible for each homework

Resources and ReadingsResources and Readings Readings and videos are available at: http://www.cs.cmu.edu

/~coral

AIBOs are being used widely in RoboCup: http://www.robocup.org

The OpenR Web page has a lot of information: http://openr.aibo.com

Tekkotsu is a serious effort to build an API for the AIBOs: http://www.cs.cmu.edu/~tekkotsu