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Amorphous Robotic Construction
Nils Napp
nnapp@buffalo.edu November 11th 2014
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Robots Building Stuff
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Amorphous Robotic Construction Nils Napp nnapp@buffalo.edu November - - PowerPoint PPT Presentation
Amorphous Robotic Construction Nils Napp nnapp@buffalo.edu November - - PowerPoint PPT Presentation
Amorphous Robotic Construction Nils Napp nnapp@buffalo.edu November 11 th 2014 1 Robots Building Stuff 2 Robotic Construction in Messy Environments 3 Related Work Petersen, Werfel, Nagpal 2011 Khoshnevis 2004 4 Rus, Lipson, Yim
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Robotic Construction in Messy Environments
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Related Work
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Petersen, Werfel, Nagpal 2011 Khoshnevis 2004 Lindsey, Mellinger, Kumar 2010 Rus, Lipson, Yim D’Andrea 2010
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Biological Inspiration
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- K. Petersen, N. Napp, J. Chin-Lee, J. Werfel and R. Nagpal, 3D Tracking of Building Processes in
Macrotermes , Visual Observation and Analysis of Animal and Insect Behavior, Workshop (ICPR), 2012.
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Biological Inspiration
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Outline
- Algorithm Design
– Adaptive Ramp Building Problem – World and Material Model – Navigable Structures – Ramp Building Algorithm(s)
- Experiments
– Working in 3D – Deposition Experiments
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Adaptive Ramp Building
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Develop algorithms and robots to build in unstructured environments
- N. Napp, J. M. Wu, O. R. Rappoli, and R. Nagpal, Materials and Mechanisms for Amorphous Robotic Construction. IROS 12
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Algorithmic Challenges
- 1. Modeling Amorphous Depositions
- 2. Planning with Amorphous Depositions
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Outline
- Algorithm Design
– Adaptive Ramp Building Problem – World and Material Model – Navigable Structures – Ramp Building Algorithm(s)
- Experiments
– Working in 3D – Deposition Experiments
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Modeling Structures
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: height function : finite building area : robot position
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Modeling Structures
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: height function : finite building area : robot position
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Modeling Amorphous Depositions
- Shape defined by the environment
- Conforming on bottom
- Top defined by shape function:
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Modeling Amorphous Depositions
Deposition operator
INPUT: shape function and height function OUTPUT: new height function
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Outline
- Algorithm Design
– Adaptive Ramp Building Problem – World and Material Model – Navigable Structures – Ramp Building Algorithm(s)
- Experiments
– Working in 3D – Deposition Experiments
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Maximum Climbable Steepness
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A function is called K-Lipschitz iff
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Navigable: Almost, Locally, Lipschitz
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A function is called navigable iff
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Navigable: Almost, Locally, Lipschitz
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A function is called navigable iff
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Navigable: Almost, Locally, Lipschitz
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A function is called navigable iff
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Navigable: Almost, Locally, Lipschitz
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A function is called navigable iff
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Outline
- Algorithm Design
– Adaptive Ramp Building Problem – World and Material Model – Navigable Structures – Ramp Building Algorithm(s)
- Experiments
– Working in 3D – Deposition Experiments
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Local Reactive Algorithm for Making Navigable Structures
1. Given 2. Set 3. While violating the navigability condition 4. Set to be point with lower h value (wlog assume ) 5. Pick deposition height 6. Deposit at : 7. Set 8. EndWhile
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Algorithm
- rithm 1
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Local Reactive Algorithm for Making Navigable Structures
1. Given 2. Set 3. While violating the navigability condition 4. Set to be point with lower h value (wlog assume ) 5. Pick deposition height 6. Deposit at : 7. Set 8. EndWhile
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Algorithm
- rithm 1
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Stopping for Algorithm 1
Bounded above
Depositions never add material above . Proof based on point selection, and the inequalities
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Guaranteed progress
Each deposition has a minimum Volume. Proof based on point selection, and deposition steepness and continuity assumptions on .
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Adaptive Ramp Building (Alg 2)
1. Given and navigable terrain around v . 2. Set 3. While 4. Move until are non-navigable or 5. If 6. Move to lower point and deposit according to Alg. 1 7. Move backward to 8. EndIf 9. EndWhile
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Algorithm
- rithm 2
Proof based on termination of Alg.1 and backing up from depositions that might have altered previously navigable terrain.
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Adaptive Ramp Building
26 Start Goal
426 Steps
- N. Napp and R. Nagpal, Distributed Amorphous Ramp Construction in Unstructured Environments . DARS 2012
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Outline
- Algorithm Design
– Adaptive Ramp Building Problem – World and Material Model – Navigable Structures – Ramp Building Algorithm(s)
- Experiments
– Working in 3D – Deposition Experiments
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Using Algorithm 2 in 3D
28 Leveling Mechanism Level Deposition with Conical Cross Section
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Experiment: Messy Leveling
Distance Sensor Mixing Nozzle Translating Carriage
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Experiment: Messy Leveling
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Foam Depositing Robot
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Robot Depositing Foam
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Foam Ramp
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1 2 3 4 5 6 7
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Summary
- Amorphous building materials can enable
robust construction in irregular terrain
- Model terrain with continuous functions
- Bound shape uncertainty with shape functions
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Future Work Construction in Cluttered Terrain
- Use models to build other structures
- Reliable construction with found objects
- Extend to probabilistic setting
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At UB
- Teaching CSE 668: Advanced Robotics
– Spring 2015 (MWF 12:00pm) – Previously called (Animate Vision Principles)
- Looking for Students
– Take my class/work on a project with me – E-mail: nnapp@buffalo.edu – Office hours: Tue/Thur 10:00-11:00am
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