Chapter 8 8 Chapter Robotics Robotics —————————————— —————————————— Christian Jacob Christian Jacob jacob@cpsc.ucalgary.ca Department of Computer Science University of Calgary
8. Robotics 8. Robotics Introduction Introduction 8.1 What are Robots Good For? 8.1 What are Robots Good For? 8.2 What are Robots Made Of? 8.2 What are Robots Made Of? 8.3 Architectures 8.3 Architectures Classic Architecture Classic Architecture Situated Automata Situated Automata 8.4 Configuration Spaces 8.4 Configuration Spaces 8.5 Navigation and Motion Planning 8.5 Navigation and Motion Planning 8.6 More Robot Examples 8.6 More Robot Examples
Introduction Introduction •Robot Institute of America defines a robot as a reprogrammable, multifunction manipulator designed to move material, parts, tools or specific devices through variable programmed motions for the performance of a variety of tasks . •Russell and Norvig: an active, artificial agent whose environment is the physical world . •Robots differ from Softbots whose environment consists of computer systems, databases and networks.
The Physical World The Physical World •The physical world is very demanding, it is: • inaccessible - sensors are imperfect, only stimuli that are near the agent can be perceived. • nondeterministic - a robot needs to deal with uncertainty • nonepisodic - effects of an action change over time • dynamic - robot needs to decide when to think and when to act immediately • continuous - states and actions are drawn from a continuum of physical configurations and motions
8. Robotics 8. Robotics Introduction Introduction 8.1 What are Robots Good For? 8.1 What are Robots Good For? 8.2 What are Robots Made Of? 8.2 What are Robots Made Of? 8.3 Architectures 8.3 Architectures Classic Architecture Classic Architecture Situated Automata Situated Automata 8.4 Configuration Spaces 8.4 Configuration Spaces 8.5 Navigation and Motion Planning 8.5 Navigation and Motion Planning 8.6 More Robot Examples 8.6 More Robot Examples
What are robots good for? What are robots good for? •Manufacturing and materials handling
What are robots good for? What are robots good for? •Gofer robots Bell & Howell Mailmobile
What are robots good for? What are robots good for? •Gofer robots Carnegie Mellon’s Nomad
What are robots good for? What are robots good for? •Hazardous environments Lunokhod Moon Robot
What are robots good for? What are robots good for? •Hazardous environments Dante II Frame Walking Robot
What are robots good for? What are robots good for? •Telepresence and virtual reality The Wheelbarrow, a bomb disposal robot
What are robots good for? What are robots good for? •Telepresence and virtual reality Advanced Tethered Vehicle (ATV)
What are robots good for? What are robots good for? •Telepresence and virtual reality Advanced Robot and Telemanipulator System for Minimal Invasive Surgery (ARTEMIS)
What are robots good for? What are robots good for? •Augmentation of human abilities Sigourney Weaver in the movie Aliens
What are robots good for? What are robots good for? •Augmentation of human abilities General Electric’s Walking Truck
8. Robotics 8. Robotics Introduction Introduction 8.1 What are Robots Good For? 8.1 What are Robots Good For? 8.2 What are Robots Made Of? 8.2 What are Robots Made Of? 8.3 Architectures 8.3 Architectures Classic Architecture Classic Architecture Situated Automata Situated Automata 8.4 Configuration Spaces 8.4 Configuration Spaces 8.5 Navigation and Motion Planning 8.5 Navigation and Motion Planning 8.6 More Robot Examples 8.6 More Robot Examples
What are robots made of? What are robots made of? •Effectors: Tools for Action •Locomotion •Manipulation •Sensors: Tools for perception •Proprioception •Force Sensing •Tactile Sensing •Sonar •Camera Data
What are robots made of? What are robots made of? •Effectors: Locomotion Carnegie Mellon’s Ambler
What are robots made of? What are robots made of? •Effectors: Locomotion MIT’s 3D Hopper
What are robots made of? What are robots made of? •Effectors: Manipulation Degrees of Freedom
What are robots made of? What are robots made of? •Sensors: Proprioception MIT’s Spring Flamingo
Haptics Haptics ❏ MIT Touch Lab MIT Touch Lab ❏
What are robots made of? What are robots made of? •Sensors: Force Sensing MIT’s Phantom
What are robots made of? What are robots made of? •Sensors: Tactile Sensing MIT’s Planar Grasper
What are robots made of? What are robots made of? •Sensors: Sonar ActivMedia’s Peoplebot
What are robots made of? What are robots made of? •Sensors: Light Sensors Grey Walter’s Tortoise: Machina Speculatrix
What are robots made of? What are robots made of? •Sensors: Camera Data The Beast: Johns Hopkins University
What are robots made of? What are robots made of? •Sensors: Camera Data MIT’s Fast Eye Gimbals
8. Robotics 8. Robotics Introduction Introduction 8.1 What are Robots Good For? 8.1 What are Robots Good For? 8.2 What are Robots Made Of? 8.2 What are Robots Made Of? 8.3 Architectures 8.3 Architectures Classic Architecture Classic Architecture Situated Automata Situated Automata 8.4 Configuration Spaces 8.4 Configuration Spaces 8.5 Navigation and Motion Planning 8.5 Navigation and Motion Planning 8.6 More Robot Examples 8.6 More Robot Examples
Architectures Architectures The architecture of a robot defines how the job of generating actions from percepts is organized. It is basically the control mechanism of the robot. •Classical Architecture •Situated Automata
Architectures: Classical Architecture Architectures: Classical Architecture •A robot with classical architecture is given a number of low-level actions (LLAs). It then uses these LLAs to reason about the effects of performing a sequence of these LLAs. The problem with this is that due to things like wheel slippage and measurement errors any lengthy sequence of actions is prone to fail.
Architectures Architectures •Classical Architecture SRI’s Shakey
Architectures: Situated Automata Architectures: Situated Automata •The process of deliberating is often too expensive to generate real-time behavior. Situated automata do not explicitly reason, they operate by reflex. A situated automata has two parts: - The first collects sensor inputs and updates the state register accordingly. - The second looks at the state register and calculates output (actions). Thus a situated automata does not plan, it just does whatever it knows to do given the state it is in.
Architectures Architectures •Situated Automata SRI’s Flakey
8. Robotics 8. Robotics Introduction Introduction 8.1 What are Robots Good For? 8.1 What are Robots Good For? 8.2 What are Robots Made Of? 8.2 What are Robots Made Of? 8.3 Architectures 8.3 Architectures Classic Architecture Classic Architecture Situated Automata Situated Automata 8.4 Configuration Spaces 8.4 Configuration Spaces 8.5 Navigation and Motion Planning 8.5 Navigation and Motion Planning 8.6 More Robot Examples 8.6 More Robot Examples
Configuration Spaces Configuration Spaces Configuration Space is the path where a robot can move from one position to another. •Generalized configuration space •Recognizable sets
Configuration Spaces Configuration Spaces Generalized configuration space Generalized configuration space includes other objects as part of the includes other objects as part of the Generalized configuration space ❏ ❏ configuration, which could be movable, variable in shapes (i.e. configuration, which could be movable, variable in shapes (i.e. scissors or staples), or deformable (i.e., string or paper). scissors or staples), or deformable (i.e., string or paper).
Configuration Spaces Configuration Spaces Recognizable Sets Includes envelope of possible configurations Includes envelope of possible configurations ❏ ❏
8. Robotics 8. Robotics Introduction Introduction 8.1 What are Robots Good For? 8.1 What are Robots Good For? 8.2 What are Robots Made Of? 8.2 What are Robots Made Of? 8.3 Architectures 8.3 Architectures Classic Architecture Classic Architecture Situated Automata Situated Automata 8.4 Configuration Spaces 8.4 Configuration Spaces 8.5 Navigation and Motion Planning 8.5 Navigation and Motion Planning 8.6 More Robot Examples 8.6 More Robot Examples
Navigation and Motion Planning Navigation and Motion Planning • Cell decomposition • Skeletonization • Fine-motion (bounder-error) planning • Landmark-based navigation • Online algorithms
Navigation and Motion Planning Navigation and Motion Planning •Cell decomposition • Breaks continuous space into a finite number of discrete search problems Bell & Howell Mailmobile
Navigation and Motion Planning Navigation and Motion Planning • Skeletonization methods • Computes a one-directional “skeleton” (subset) of the configuration space, yielding an equivalent graph search problem
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