Foundations of Robotics Rod Grupen Department of Computer Science - - PowerPoint PPT Presentation

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Foundations of Robotics Rod Grupen Department of Computer Science - - PowerPoint PPT Presentation

May 31, 2023 167 likes •529 views

Foundations of Robotics Rod Grupen Department of Computer Science University of Massachusetts Amherst Laboratory for Perceptual Robotics College of Information and Computer Sciences Robotics: Iliad (7th-8th century BCE) Homer a great

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Rod Grupen Department of Computer Science University of Massachusetts Amherst

Foundations of Robotics

Laboratory for Perceptual Robotics – College of Information and Computer Sciences

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a great epic describing the Trojan war, a world of mythical automata, where men are instead controlled by the Gods. Talos, the bronze giant Hephaestus, the god of mechanical arts and master of the forge Daedalus (father of the famous Icarus) fashioned a statue of Venus that came to life when quicksilver was poured into it (according to Aristotle). Plato claimed that these statues had to be prevented from running away.

Robotics: Iliad (7th-8th century BCE)— Homer

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Aristotle conceived of two kinds of knowledge:

  • one describing immortal, eternal

principles, and

  • one grounded in embodiment

A form of dualism that Descarte would later pick up again.

Aristotle (384-322 BCE) — knowledge

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1497 Clock Tower in Piazza San
 Marco, Venice, Italy 1350 Rooster flapping wings and on top of Cathedral in Strasbourg, France Town Hall, Munich, Germany Renaissance

European Renaissance Period

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King Edward VI of England (1552) bans automatic sheep shearing machines in response to peasant uprisings His sister, Elizabeth I

  • utlawed the loom for the same

reason. both monarchs worried that machines like this would destabilize important social structures

Ned Ludd and the Luddite Movement

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Duality: humans are machines: possessing an animal spirit that inhabits space and time to receive stimuli from the environment and produce motor responses. humans are conscious spirits consciousness transcends physics the two spirits intersect in the pineal gland to create the dual nature of the human condition.

Descartes (1596 - 1650)

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Jacques de Vaucanson’s Duck (ca. 1738)

… it ate and drank, swallowed, digested, and excreted…it could quack, rise and

settle back on its legs, and swallow food with a quick, realistic gulping action in its flexible neck. “without the shitting duck, there would be nothing to remind us

  • f the glory of France.” Voltaire
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Writer Draughtsman

The Writer of Droz, 1774

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Maillardet, 1805 (Scorsese’s 2011 Hugo)

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Maillardet, 1805

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Watt’s Governor (1788)

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University of Bologna - experimental bioelectrogenesis. electric current causes the contraction of the muscles in the leg of a frog when applied directly to the muscle or at a distance through a nerve. conceived of animal electricity - a fluid secreted by the brain that flows through nerves to activate muscles.

Mary Shelley (1818)

Galvani (1791)

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robot - from robota, meaning serf labor, drudgery, hard work, servitude

Karel Čapek’s R.U.R., 1920

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1. A robot may not harm a human being, or, through inaction, allow a human being to come to harm. 2. A robot must obey the orders given to it by human beings except where such orders would conflict with the First Law. 3. A robot must protect its own existence, as long as such protection does not conflict with the First or Second Law.

  • 0. A robot may not injure humanity or, through

inaction, allow humanity to come to harm. (added after the initial three laws in Robots and Empire)

Isaac Asimov: “Runaround,” 1942

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Shakey (SRI, 1968) and Mobie (Stanford,?)

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Stanford Scheinman Arm,1969

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R2-D2 and C-3PO

Star Wars - 1977

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Unimation’s Programmable Universal Machine for Assembly (PUMA)

Joseph Engelberger

PUMA, 1978

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Valentino Braitenberg Uphill Analysis Downhill Invention

Synthetic Psychology - 1984

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Biomemetics: Lobster 1992

Joseph Ayers Northeastern full neural emulation

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Marc Raibert

MIT Leg Lab - 1989-1995

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death head cockroach full gait simulation full neural simulation

Biomemetics Deaths Head Cockroach - 1998

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1998 Furby $30 1999 AIBO $2000

Commercial Toys

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$1.2M

Da Vinci Surgical Robot - ca. 2000

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inexpensive, reliable, functional

Market Acceptability - Roomba - 2002

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1986 2012 maybe $500M!

HONDA Asimo

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Boston Dynamics
 Marc Raibert

Biomemetics: BigDog 2008-2012

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Biomemetics

SpotMini 2016-2020 BigDog 2008-2012

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Boston Dynamics - Atlas (2019-present)

…the machines have caught up to the science fiction… we will use the type of control architecture employed by Boston Dynamics

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HRP- DARPA Robotics Challenge

…but they have very limited means of acquiring the background control knowledge required to interact autonomously with the world…

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a mobile manipulator a spatial Roger

uBot: 2004-present

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UMass Laboratory for Perceptual Robotics

uBot: 2004-2018

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uBot: 2004-2018

UMass Laboratory for Perceptual Robotics

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UMass Laboratory for Perceptual Robotics

uBot-5: 2004-present

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Landau Reflex - “superman” pose, legs reflexively drop down into flexion when the infant’s head is pushed down

The Organized Infant

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the inspiration for our sequential programming project hierarchy…

Developmental Trajectory