COMP 150: Developmental Robotics Instructor: Jivko Sinapov - - PowerPoint PPT Presentation

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COMP 150: Developmental Robotics Instructor: Jivko Sinapov - - PowerPoint PPT Presentation

Dec 19, 2023 203 likes •857 views

COMP 150: Developmental Robotics Instructor: Jivko Sinapov www.cs.tufts.edu/~jsinapov This Week Behavior-Based Robotics Getting started with robot simulators What makes a good project? Office Hours Change This Week: Thursday noon

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COMP 150: Developmental Robotics

Instructor: Jivko Sinapov www.cs.tufts.edu/~jsinapov

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This Week

  • Behavior-Based Robotics
  • Getting started with robot simulators
  • What makes a good project?
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Office Hours Change

  • This Week: Thursday noon – 2 pm
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Homework 1 due on Thursday

  • Solution should be in PDF format
  • LastnameFirstname_HW1.pdf
  • Due Thursday Sept 21st by midnight
  • Send by email to jsinapov@cs.tufts.edu

subject: [comp150] ...

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Reading Assignment 3

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Robot Simulators using ROS

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Getting Started...

  • Get Ubuntu 16.04 LTS

– Dual boot – Virtual machine

  • Check your architecture (32 bit or 64 bit) and

download the appropriate .iso file

  • Beginner’s guide to Ubuntu Linux:

– http://www.makeuseof.com/tag/ubuntu-an-absolute-

beginners-guide/

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Ok, then what?

  • Install ROS

– http://wiki.ros.org/kinetic/Installation – If using Ubuntu 16.04, then use ROS kinetic – If using Ubuntu 14.04, then use ROS indigo

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What is ROS?

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What is ROS?

“ROS (Robot Operating System) provides libraries and tools to help software developers create robot applications. It provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more. ROS is licensed under an open source, BSD license.”

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First Steps in ROS

  • Tutorials:

– http://wiki.ros.org/ROS/Tutorials

  • Turtlesim:

– http://wiki.ros.org/turtlesim

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Turtlesim + Kinect

[https://www.youtube.com/watch?v=E9TJ0c8ufzM]

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Turtlebot Simulator

http://wiki.ros.org/turtlebot_simulator

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Demos with Turtlesim

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Baxter Simulator

http://sdk.rethinkrobotics.com/wiki/Baxter_Simulator

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Baxter Simulator Demo

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Take-home Message

Getting into robotics has never been easier! If you’re considering using a robot simulator for your project, now is the time to explore! There are many other simulators out there in addition to ROS and Gazebo

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Behavior-Based Robotics

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Teleoperation

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Teleoperation

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Teleoperation

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Teleoperation

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Teleoperation

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Teleoperation

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Robotics Timeline

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Teleoperation vs Telepresence

  • An early attempt to improve teleoperation was

to add more cameras / displays

  • Telepresence aims for placing the operator in a

virtual reality that mimics the robot's surroundings

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Telepresence Robots

http://www.pilotpresence.com/wp-content/uploads/2011/01/remote-presence-systemsv2.jpg

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The need for (semi-) autonomy

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How should autonomy be achieved and organized?

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Robot Primitives

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The Early Answer (1967): Sense-Plan-Act

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The Early Answer (1967): Sense-Plan-Act

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The Early Answer (1967): Sense-Plan-Act

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Early Example of S-P-A

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Early Work on Planning

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Early Work on Planning

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Early Work on Planning

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Early Work on Planning

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A More Realistic Example

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A More Realistic Example

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A More Realistic Example

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A More Realistic Example

Is INROOM(IT,R1) true or false? CONNECTS(D1,R1,R2)? INROOM(IT,R2)? IT

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Representing Initial State

IT

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Representing Goal State

IT

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The “difference” table

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Logical Difference

  • r
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Finding the Plan

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Discussion

  • How did you solve the problem?
  • What are some limitations of planning with

STRIPS?

  • Where do the predicates, operators, etc. come

from?

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Then comes Rodney Brooks...

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GOFAI

  • GOFAI: good old-fashioned artificial intelligence
  • Typically implemented as a central planner
  • perating on a set of symbols (predicates)
  • Tools: logic, predicate logic, PROLOG, Search

algorithms, etc.

  • Solution: sense → model → plan → act
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Brooks' opinion: GOFAI failed

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Abstraction is a dangerous weapon

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Toy worlds vs. Real worlds

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Toy worlds vs. Real worlds

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Brook's opinion: GOFAI failed

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Alternatives to Sense-Plan-Act

Sense-Plan-Act Reactive Hybrid

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Reactive Paradigm

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The Hybrid Paradigm

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Deliberative vs. Reactive

[ Arkin, 1998]

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Words of Wisdom

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Where is Brooks now?

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Next Time...

?

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