Robo sapiens The Forefront of AI? CPSC 433 Christian Jacob Dept. - PowerPoint PPT Presentation

Robo sapiens The Forefront of AI? CPSC 433 Christian Jacob Dept. of Computer Science Dept. of Biochemistry & Molecular Biology University of Calgary Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Robo sapiens Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Challenges of the Physical W orld The physical world we live in is very demanding — especially for robots. • Inaccessibility • Arti fi cial sensors are still imperfect ( or too perfect ) . • Nondeterminism • A robot needs to deal with uncertainty. Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Challenges of the Physical W orld ( 2 ) • Non - episodicity • E ff ects of an action change over time. • Dynamics • Robots need to decide when to ‘ think ’ and when to act immediately. • Continuity • States and actions are drawn from a continuum of physical con fi gurations and motions. Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

What are Robots Good For? Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Motion Planning • Fine - motion ( bounded - error ) planning • Assumes bounds on sensor and actuator uncertainty. - Partial knowledge of the environment is known to the system. - Most of the planning is done o ffl ine. - Used for planning small, precise motions of assembly robots. Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Fine - Motion Planning Assembly Robot Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Manufacturing and Materials Handling Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Navigation • Cell / map decomposition • Break continuous space into a fi nite number of discrete search problems. • Skeletonization • Compute a uni - directional ‘ skeleton ’ ( subset ) of the con fi guration space ( ==> graph search problem ) Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Navigation & Motion Planning • Landmark - based navigation • This method assumes that some regions exist in which the robot location can be pinpointed using landmarks. • Outside those regions there may only be orientation information. Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Landmark Navigation Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Gofer Service Robots Bell & Howell Mail Mobile Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Navigation & Motion Planning • Online Algorithms • The robot makes decisions at run time ( no need for o ffl ine planning ) . • This method assumes that the environment is completely unknown, and has to be ‘ explored ’ . • The robot is usually equipped with a position sensor and knows the location of its goal. Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Exploration Nomad ( Carnegie Mellon University ) Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Exploration Text http://www - 2.cs.cmu.edu/ ~ lri/nav97.html Nomad ( CMU, 1997 ) Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Online Algorithm Mars Path fi nder Sojourner Rover Mars Path fi nder Mars Mission 2004 Sojourner Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

More Robot Examples Useful and curious ... Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Hazardous Environments Lunokhod Moon Robot Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Hazardous Environments Dante II Frame W alking Robot Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Telepresence Wheelbarrow : Bomb Disposal Robot Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Telepresence Advanced Tethered V ehicl � Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Telepresence ARTEMIS : Advanced Robot & Telemanipulator System for Minimal Invasive Surgery Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Augmentation of Human Abilities Sigourney W eaver in the movie Aliens Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Augmentation of Human Abilities Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

What Makes Robots W ork? • E ff ectors: tools for action • Locomotion • Manipulation Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

What Makes Robots W ork? • Sensors: tools for perception • Proprioception • Force sensing • Tactile sensing • ... Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Locomotion robots/mit_robots.html http://www.computerthai.or.th/Technology/MIT MIT ’ s 3D Hopper ( 1984 ) Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Proprioception robots/mit_robots.html http://www.computerthai.or.th/Technology/MIT Spring Flamingo ( MIT ) Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Proprioception robots/mit_robots.html http://www.computerthai.or.th/Technology/MIT Spring Flamingo ( MIT, 1996 - 2000 ) Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Proprioception robots/mit_robots.html http://www.computerthai.or.th/Technology/MIT M2, Bipedal W alker ( MIT, 2001 - present ) Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Haptics MIT T ouch Lab Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

What Makes Robots W ork? • Sensors: tools for perception • Proprioception • Force sensing • Tactile sensing • Sonar • Camera, visual perception Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Sonar Sensors Peoplebots ( ActivMedia ) Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Camera Sensors Fast Eye Gimbals ( MIT ) Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Kisme � MIT Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Robots in our “ Daily Lives ” Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

LOGO Robot Seymour Papert Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Robot Teams AIBO ( Sony ) and RoboCup Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

W ABOT - 2 : Organ Player http://cdecas.free.fr/robots/wabot.php In 1984, Waseda University presented the Wabot-2. This machine was the first attemps of specializing a robot in domestic use. The chosen activity was music, and the Wabot-2 got worldwide famous as the first robot in the world which played piano. Ichiro Kato, W aseda University, Tokyo ( 1980 - 84 ) Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

V acuum Robot Roomba Robotic Floor V ac Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

Lawn Mowing ... Friendly Robotics: Robomow Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction

References • Menzel, P ., and D ’ Alusio, F. ( 2000 ) . Robo sapiens — Evolution of a New Species . Cambridge, MA, MIT Press. • Kurzweil, R. ( 1990 ) . The Age of Inte � igen � Machines . Cambridge, MA, MIT Press. Christian Jacob, University of Calgary CPSC 433 — Arti fi cial Intelligence: An Introduction