Robotics - University of Calgary in Albertapages.cpsc.ucalgary.ca/.../Slides/08-Robotics-6up.pdf ·...

Christian Jacob

Christian Jacob

jacob@cp

sc.ucalgary.ca

Departm

ent of Com

puter ScienceU

niversity of Calgary

Ch

apter

Ch

apter 8 8

Ro

bo

ticsR

ob

otics

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8.

8.

Robotics

Robotics

IntroductionIntroduction

8.1

8.1

What are R

obots Good For?

What are R

obots Good For?

8.2

8.2

What are R

obots Made O

f?W

hat are Robots M

ade Of?

8.3

8.3

Arch

itectures

Arch

itectures

Classic A

rchitectureC

lassic Architecture

Situated Autom

ataSituated A

utomata

8.4

8.4

Configuration Spaces


8.5

8.5

Navigation and M

otion PlanningN

avigation and Motion Planning

8.6

8.6

More R

obot Exam

plesM

ore Robot E

xamples


•Robot Institute of A

merica defines a robot as a

reprogramm

able, multifunction m

anipulatordesigned to m

ove material, parts, tools or specific

devices through variable programm

ed motions for

the performance of a variety of tasks.

•Russell and N

orvig: an active, artificial agentw

hose environment is the physical w

orld.

•Robots differ from

Softbots whose environm

entconsists of com

puter systems, databases and

netw

ork

s.

The Physical W

orldT

he Physical World

•The physical w

orld is very demanding, it is:

•inaccessible - sensors are imperfect, only stim

uli thatare near the agent can be perceived.

•no

nd

etermin

istic - a robot needs to deal with

uncertainty

•no

nep

isod

ic - effects of an action change over time

•dyn

amic - robot needs to decide w

hen to think andw

hen to act imm

ediately

•con

tinu

ou

s - states and actions are drawn from

acontinuum

of physical configurations and motions

8.

8.

Robotics

Robotics


8.1

8.1

What are R

obots Good For?

What are R

obots Good For?

8.2

8.2

What are R

obots Made O

f?W

hat are Robots M

ade Of?

8.3

8.3

Arch

itectures

Arch

itectures

Classic A

rchitectureC

lassic Architecture

Situated Autom

ataSituated A

utomata

8.4

8.4



8.5

8.5

Navigation and M

otion PlanningN


8.6

8.6

More R

obot Exam

plesM

ore Robot E

xamples

What are robots good for?


•Manufacturing and m

aterials handling



•Gofer robots

Bell &

How

ell Mailm

obile



•Gofer robots

Carnegie M

ellon’s No

mad



•Hazardous environm

ents

Lu

no

kh

od M

oon Robot



•Hazardous environm

ents

Dante II Fram

e Walking R

obot



•Telep

resence and virtual reality

The W

heelbarrow, a bom

b disposal robot



•Telep


Advanced T

ethered Vehicle (A

TV

)



•Telep


Advanced R

obot and Telem

anipulator System for M

inimal Invasive Surgery

(AR

TE

MIS)



•Augm

entation of human abilities

Sigourney Weaver in the m

ovie Aliens



•Augm

entation of human abilities

General E

lectric’s Walking T

ruck

8.

8.

Robotics

Robotics


8.1

8.1

What are R

obots Good For?

What are R

obots Good For?

8.2

8.2

What are R

obots Made O

f?W

hat are Robots M

ade Of?

8.3

8.3

Arch

itectures

Arch

itectures

Classic A

rchitectureC

lassic Architecture

Situated Autom

ataSituated A

utomata

8.4

8.4



8.5

8.5

Navigation and M

otion PlanningN


8.6

8.6

More R

obot Exam

plesM

ore Robot E

xamples

What are robots m

ade of?W

hat are robots made of?

•Effectors: T

ools for Action

•Lo

com

otio

n

•Manipulation

•Sensors: Tools for perception

•Proprioception

•Force Sensing

•Tactile Sensing

•Sonar

•Cam

era Data

What are robots m

ade of?W


•Effectors: L

ocomotion

Carnegie M

ellon’s Am

bler

What are robots m

ade of?W


•Effectors: L

ocomotion

MIT

’s 3D H

opper

What are robots m

ade of?W


•Effectors: M

anipulation

Degrees of Freedom

What are robots m

ade of?W


•Sensors: Proprioception

MIT

’s Spring Flamingo

Haptics

Haptics

❏ ❏M

IT T

ouch Lab

MIT

Touch L

ab

What are robots m

ade of?W


•Sensors: Force Sensing

MIT

’s Ph

anto

m

What are robots m

ade of?W


•Sensors: Tactile Sensing

MIT

’s Planar Grasper

What are robots m

ade of?W


•Sensors: Sonar

ActivM

edia’s Peoplebot

What are robots m

ade of?W


•Sensors: Light Sensors

Grey W

alter’s Tortoise: M

achina Speculatrix

What are robots m

ade of?W


•Sensors: Cam

era Data

The B

east: Johns Hopkins U

niversity

What are robots m

ade of?W


•Sensors: Cam

era Data

MIT

’s Fast Eye G

imb

als

8.

8.

Robotics

Robotics


8.1

8.1

What are R

obots Good For?

What are R

obots Good For?

8.2

8.2

What are R

obots Made O

f?W

hat are Robots M

ade Of?

8.3

8.3

Arch

itectures

Arch

itectures

Classic A

rchitectureC

lassic Architecture

Situated Autom

ataSituated A

utomata

8.4

8.4



8.5

8.5

Navigation and M

otion PlanningN


8.6

8.6

More R

obot Exam

plesM

ore Robot E

xamples

Arch

itectures

Arch

itectures

The architecture of a robot defines how

the job ofgenerating actions from

percepts is organized. It isbasically the control m

echanism of the robot.

•Classical A

rchitecture

•Situated Autom

ata

Architectures: C

lassical Architecture

Architectures: C

lassical Architecture

•A robot w

ith classical architecture is given anum

ber of low-level actions (L

LA

s). It then usesthese L

LA

s to reason about the effects ofperform

ing a sequence of these LL

As.

The problem

with this is that due to things like

wheel slippage and m

easurement errors any

lengthy sequence of actions is prone to fail.

Arch

itectures

Arch

itectures

•Classical A

rchitecture

SRI’s Shakey

Architectures: Situated A

utomata

Architectures: Situated A

utomata

•The process of deliberating is often too expensive

to generate real-time behavior. Situated autom

atado not explicitly reason, they operate by reflex.

A situated autom

ata has two parts:

- The first collects sensor inputs and updates the

state register accordingly.

- The second looks at the state register and

calculates output (actions).

Thus a situated autom

ata does not plan, it justdoes w

hatever it knows to do given the state it is

in.

Arch

itectures

Arch

itectures

•Situated Autom

ata

SRI’s Flakey

8.

8.

Robotics

Robotics


8.1

8.1

What are R

obots Good For?

What are R

obots Good For?

8.2

8.2

What are R

obots Made O

f?W

hat are Robots M

ade Of?

8.3

8.3

Arch

itectures

Arch

itectures

Classic A

rchitectureC

lassic Architecture

Situated Autom

ataSituated A

utomata

8.4

8.4



8.5

8.5

Navigation and M

otion PlanningN


8.6

8.6

More R

obot Exam

plesM

ore Robot E

xamples



Configuration Space is the path w

here a robot canm

ove from one position to another.

•Generalized configuration space

•Recognizable sets

Generalized configuration space



❏ ❏G

eneralized configuration spaceG

eneralized configuration space includes other objects as part of the includes other objects as part of the

configuration, which could be m

ovable, variable in shapes (i.e.configuration, w

hich could be movable, variable in shapes (i.e.

scissors or staples), or deformable (i.e., string or paper).

scissors or staples), or deformable (i.e., string or paper).

Recognizable Sets



❏ ❏Includes envelope of possible configurationsIncludes envelope of possible configurations

8.

8.

Robotics

Robotics


8.1

8.1

What are R

obots Good For?

What are R

obots Good For?

8.2

8.2

What are R

obots Made O

f?W

hat are Robots M

ade Of?

8.3

8.3

Arch

itectures

Arch

itectures

Classic A

rchitectureC

lassic Architecture

Situated Autom

ataSituated A

utomata

8.4

8.4



8.5

8.5

Navigation and M

otion PlanningN


8.6

8.6

More R

obot Exam

plesM

ore Robot E

xamples

Navigation and M

otion PlanningN


• Cell decom

position

• Skeletonization

• Fine-motion (bounder-error) planning

• Landm

ark-based navigation

• Online algorithm

s

Navigation and M

otion PlanningN


•Cell decom

position

• Breaks continuous space into a finite num

ber ofdiscrete search problem

s

Bell &

How

ell Mailm

obile

Navigation and M

otion PlanningN


• Skeletonization methods

• Com

putes a one-directional “skeleton” (subset) ofthe configuration sp

ace, yielding an equivalent graphsearch problem

Navigation and M

otion PlanningN


• Fine-motion (B

ounded-error) Planning

• This m

ethods assume bounds on sensor and actuator

uncertainty, and in some cases can com

pute plans that areguaranteed to succeed even in the face of severe actuator errors

• partial knowledge of the environm

ent is known to the system

• most of the planning is done offline

• used for planning small, precise m

otions of assembly robots

Navigation and M

otion PlanningN


• Landm

ark-based navigation

• This m

ethod assumes that som

e regions exist in which the

robot location can be pinpointed using landmarks, w

hereasoutside those regions it m

ay have only orientationinform

ation.

• This m

ethod is both sound and complete

• The plan has at m

ost n steps if there are n landm

arks

Navigation and M

otion PlanningN


• Online algorithm•

The robot m

akes decisions at run time (no need for offline

planning

•T

his method assum

es that the environment is com

pletelyu

nk

no

wn

•T

he robot cannot see anything. It can only sense a boundary

• T

he robot is equipped with a position sensor and know

s thelocation of its goal.

Mars Pathfinder Sojourner

Mars E

xploration Rovers

8.

8.

Robotics

Robotics


8.1

8.1

What are R

obots Good For?

What are R

obots Good For?

8.2

8.2

What are R

obots Made O

f?W

hat are Robots M

ade Of?

8.3

8.3

Arch

itectures

Arch

itectures

Classic A

rchitectureC

lassic Architecture

Situated Autom

ataSituated A

utomata

8.4

8.4



8.5

8.5

Navigation and M

otion PlanningN


8.6

8.6

Ro

bo

Ro

bo

sapiens? sapiens?

Ro

bo

Ro

bo

Sapiens? Sapiens?

[Kurzw

eil, 1990]

Seymour Papert

LO

GO

Robot

Ro

bo

Ro

bo

Sapiens? Sapiens?

[Menzel and D

’Aluisio, 2000]

KISM

ET

MIT

Ro

bo

Ro

bo

Sapiens? Sapiens?

[Kurzw

eil, 1990]

WA

BO

T,

theOrgan Player

Ichiro Kato,

Waseda-U

niversity,T

okyo

Referen

cesR

eferences

• •P

.P

. Menzel

Menzel and F.

and F. D’A

luisio D

’Aluisio (2000).

(2000). Ro

bo

Ro

bo

sapiens — sapiens —

Evolution of a N

ew Species

Evolution of a N

ew Species. C

ambridge, M

A, M

IT P

ress.. C

ambridge, M

A, M

IT P

ress.

• •K

urzw

eilK

urzw

eil, R. (1990).

, R. (1990). T

he Age of Intelligent M

achinesT

he Age of Intelligent M

achines. .C

ambridge, M

A, M

IT Press.

Cam

bridge, MA

, MIT

Press.

Robotics - University of Calgary in Albertapages.cpsc.ucalgary.ca/.../Slides/08-Robotics-6up.pdf ·...

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