Robotic Agents (CMPSC 311) Robotics: Introduction Janyl Jumadinova - - PowerPoint PPT Presentation

▶

Dec 03, 2022 259 likes •560 views

Robotic Agents (CMPSC 311) Robotics: Introduction Janyl Jumadinova August 29, 2019 Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 1 / 23 Robot Classification according to the Robotics Institute of America Variable-Sequence

SLIDE 1

Robotic Agents (CMPSC 311)

Robotics: Introduction Janyl Jumadinova August 29, 2019

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 1 / 23

SLIDE 2

Robot Classification

according to the Robotics Institute of America Variable-Sequence Robot: A device that performs the successive stages of a task according to a predetermined method easy to modify Playback Robot: A human operator performs the task manually by leading the Robot Numerical Control Robot: The operator supplies the movement program rather than teaching it the task manually. Intelligent Robot: A robot with the means to understand its environment and the ability to successfully complete a task despite changes to the environment.

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 2 / 23

SLIDE 3

Intelligent Robots

Sense/Think/Act “AI” view get the computer (robot) to do things that, for now, people are better at

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 3 / 23

SLIDE 4

Intelligent Robots

Sense/Think/Act “AI” view get the computer (robot) to do things that, for now, people are better at “Reactive” view “elephants don’t play chess” Chess is easy - moving around is hard

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 3 / 23

SLIDE 5

What Can Robots Be Used For?

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 4 / 23

SLIDE 6

What Can Robots Be Used For?

Manufacturing 3 Ds : Dirty,

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 4 / 23

SLIDE 7

What Can Robots Be Used For?

Manufacturing 3 Ds : Dirty, Dull, Dangerous Space Satellites, probes, planetary landers, rovers Military Agriculture Construction Entertainment Consumer

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 4 / 23

SLIDE 8

The three key questions in Mobile Robotics Where am I ? Where am I going ? How do I get there ?

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 5 / 23

SLIDE 9

The three key questions in Mobile Robotics Where am I ? Where am I going ? How do I get there ? To answer these questions the robot has to: have a model of the environment (given or autonomously built) perceive and analyze the environment find its position/situation within the environment plan and execute the movement

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 5 / 23

SLIDE 10

Autonomous mobile robot | the see-think-act cycle

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 6 / 23

SLIDE 11

Motion Control | kinematics and motion control

Wheel types and its constraints

Rolling constraint
no-sliding constraint (lateral)

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 7 / 23

SLIDE 12

Autonomous mobile robot | the see-think-act cycle

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 8 / 23

SLIDE 13

Perception | sensing

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 9 / 23

SLIDE 14

Perception | information extraction

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 10 / 23

SLIDE 15

Autonomous mobile robot | the see-think-act cycle

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 11 / 23

SLIDE 16

Localization | where am I?

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 12 / 23

SLIDE 17

Autonomous mobile robot | the see-think-act cycle

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 13 / 23

SLIDE 18

Cognition | Where am I going ? How do I get there ?

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 14 / 23

SLIDE 19

Cognition | Where am I going ? How do I get there ?

Global path planning

Graph search

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 15 / 23

SLIDE 20

Cognition | Where am I going ? How do I get there ?

Local path planning

Local collision avoidance

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 16 / 23

SLIDE 21

Autonomous mobile robot | the see-think-act cycle

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 17 / 23

SLIDE 22

Motion Control

Rezero | Wheeled locomotion with single point contact

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 18 / 23

SLIDE 23

Motion Control: Vision only UAV navigation

Swarm of small helicopters Vision only navigation (one camera, GPS denied) Fully autonomous with on-board computing Feature based visual SLAM

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 19 / 23

SLIDE 24

Motion Control: Autonomous Driving in traffic

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 20 / 23

SLIDE 25

Motion Control: Humanoid Robot

Honda’s ASIMO - Advanced Step in Innovative MObility One of the more advanced humanoid robots Compact, lightweight Sophisticated walk technology Human-friendly design

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 21 / 23

SLIDE 26

Beyond Mobility | PR2 robot from Willow Garage

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 22 / 23

SLIDE 27

Lego EV3 Robots

Lego EV3 robot contains a programmable EV3 controller (brick), user

interface with an LCD screen, Lego building blocks, motors and various sensors such as light, ultrasonic, color, touch, gyro.

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 23 / 23

SLIDE 28

Lego EV3 Robots

Lego EV3 robot contains a programmable EV3 controller (brick), user

interface with an LCD screen, Lego building blocks, motors and various sensors such as light, ultrasonic, color, touch, gyro.

The brick contains 4 outputs (motors) 4 inputs (sensors), USB,

Bluetooth, or Wi-Fi connection, LCD screen, 16 MB flash memory, 64 MB RAM, SD Card Port, EV3 Brick Button lights, sound.

Janyl Jumadinova Robotic Agents (CMPSC 311) August 29, 2019 23 / 23