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

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 – 2 pm

Homework 1 due on Thursday ● Solution should be in PDF format ● LastnameFirstname_HW1.pdf ● Due Thursday Sept 21 st by midnight ● Send by email to jsinapov@cs.tufts.edu subject: [comp150] ...

Reading Assignment 3

Robot Simulators using ROS

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/

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

What is ROS?

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.”

First Steps in ROS ● Tutorials: – http://wiki.ros.org/ROS/Tutorials ● Turtlesim: – http://wiki.ros.org/turtlesim

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

Turtlebot Simulator http://wiki.ros.org/turtlebot_simulator

Demos with Turtlesim

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

Baxter Simulator Demo

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

Behavior-Based Robotics

Teleoperation

Teleoperation

Teleoperation

Teleoperation

Teleoperation

Teleoperation

Robotics Timeline

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

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

The need for (semi-) autonomy

How should autonomy be achieved and organized?

Robot Primitives

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

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

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

Early Example of S-P-A

Early Work on Planning

Early Work on Planning

Early Work on Planning

Early Work on Planning

A More Realistic Example

A More Realistic Example

A More Realistic Example

A More Realistic Example IT Is INROOM(IT,R1) true or false? CONNECTS(D1,R1,R2)? INROOM(IT,R2)?

Representing Initial State IT

Representing Goal State IT

The “difference” table

Logical Difference or

Finding the Plan

Discussion ● How did you solve the problem? ● What are some limitations of planning with STRIPS? ● Where do the predicates, operators, etc. come from?

Then comes Rodney Brooks...

GOFAI ● GOFAI : good old-fashioned artificial intelligence ● Typically implemented as a central planner operating on a set of symbols (predicates) ● Tools : logic, predicate logic, PROLOG, Search algorithms, etc. ● Solution: sense → model → plan → act

Brooks' opinion: GOFAI failed

Abstraction is a dangerous weapon

Toy worlds vs. Real worlds

Toy worlds vs. Real worlds

Brook's opinion: GOFAI failed

Alternatives to Sense-Plan-Act Sense-Plan-Act Hybrid Reactive

Reactive Paradigm

The Hybrid Paradigm

Deliberative vs. Reactive [ Arkin, 1998]

Words of Wisdom

Where is Brooks now?

Next Time... ?