Robotics. Why Robotics? Practice Promise Why Robotics? Vibrant field.

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Presentation transcript:

Robotics

Why Robotics? Practice Promise

Why Robotics? Vibrant field

Why Robotics? A window to the soul... Advances in AI and in Robotics are one and the same thing.

What is a robot?

Battlescar the BattleBot Ripley’s Exoskeleton Al Gore USC helicopter Rug Warrior Self-guiding golf cart MOVIT line follower Sea- man

categorizing robots Abstraction Autonomy hard ware softw are just is human-controlled independent

categorizing robots Abstraction Autonomy hard ware softw are just is human-controlled independent

What is robotics? Autonomous : Robot :: ________ : Mudder Robot a physical system that autonomously senses the environment and acts in it. Sleeping Unicycling Overworked

Robot timeline

Robot timeline Karl Capek I, Robot First Law: A robot may not injure a human being, or, through inaction, allow a human being to come to harm. Second Law: A robot must obey orders given it by human beings, except where such orders would conflict with the First Law. Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. Isaac Asimov’s Laws of Robotics

Robot timeline Karl Capek 1950 I, Robot

Robot timeline Karl Capek Dalek 1950 I, Robot

Robot timeline Karl Capek Dalek 1950 I, Robot

Real robot timeline “Tortoise”

Shakey Nils Stanford Research Inst first “general-purpose” mobile platform

Shakey Nils Stanford Research Inst first “general-purpose” mobile platform Living Room (L) tvg sp Kitchen (K) Bedroom (B) sh tv

Go(x,y) Preconditions: At(sh,x) Postconditions: At(sh,y) Push(obj,x,y) Preconditions: At(sh,x)  At(obj,x) Postconditions: At(sh,y)  At(obj,y) Shakey Start START GOAL ACTIONS Go(L,B) Go(L,K) At(sh,L)  At(sp,K)  At(tvg,B)  At(tv,L) Push(tv,L,B) Push(tv,L,K) At(sh,K)  At(sp,K)  At(tvg,B)  At(tv,K) At(sh,L)  At(sp,L)  At(tvg,L)  At(tv,L)

Stanford Cart Hans SAIL SENSING ACTING perception world modeling planning task execution motor control “functional” task decomposition

Cartland

Insects Rodney MIT avoid objects wander explore build maps identify objects planning and reasoning SENSING ACTING “behavioral” task decomposition

Subsumption Architecture runaway behavior FSM / DFA

Subsumption Architecture runaway behavior wander behavior FSM / DFA

Subsumption Architecture runaway behavior wander behavior navigate behavior FSM / DFA

Subsumption Architecture Genghis in action!

Beyond subsumption Polly Navlab & ALVINN