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
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