CS 8520: Artificial Intelligence Robotics Paula Matuszek Fall, 2008

What is your favorite robot? HAL 9000 Robby – Forbidden Planet Robocop Data CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

What is a robot? Definition: “A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.” (Robot Institute of America) Alternate definition: “A robot is a one-armed, blind idiot with limited memory and which cannot speak, see, or hear.” CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

What are robots good at? What is hard for humans is easy for robots. Repetitive tasks. Continuous operation. Complicated calculations. Refer to huge databases. What is easy for a human is hard for robots. Reasoning. Adapting to new situations. Flexible to changing requirements. Integrating multiple sensors. Resolving conflicting data. Synthesizing unrelated information. Creativity. CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

What tasks would you give robots? Dangerous space exploration chemical spill cleanup disarming bombs disaster cleanup Boring and/or repetitive welding car frames part pick and place manufacturing parts. High precision or high speed electronics testing surgery precision machining. CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

What does building robots teach us about humans? How do our sensors work? eyes brain How do we integrate sensors? How does our muscular-skeletal system work? How do we grab and hold an object? How does our brain process information? What is nature of intelligence? How do we make decisions? CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

What subsystems make up a robot? Action Stationary base Mobile Sensors Control Power supply Robert Stengel, Princeton Univ. CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

Action – do some function. Actuators pneumatic hydraulic electric solenoid Motors Analog (continuous) Stepping (discrete increments) Gears, belts, screws, levers Manipulations CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

Three types of robot actions. Pick and place Moves items between points. Continuous path control Moves along a programmable path Sensory Employs sensors for feedback CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

How do robots move? Simple joints (2D) Compound joints (3D) Prismatic — sliding along one axis square cylinder in square tube Revolute — rotating about one axis Compound joints (3D) ball and socket = 3 revolute joints round cylinder in tube = 1 prismatic, 1 revolute Degrees of freedom = Number of independent motions 3 degrees of freedom: 2 translation, 1 rotation 6 degrees of freedom: 3 translation, 3 rotation CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

Mobility Legs Wheels Tracks Crawls Rolls CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

What sensors might robots have? Optical Laser / radar 3D Color spectrum Pressure Temperature Chemical Motion & Accelerometer Acoustic Ultrasonic CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

What use are sensors? Uses sensors for feedback Closed-loop robots use sensors in conjunction with actuators to gain higher accuracy – servo motors. Uses include mobile robotics, telepresence, search and rescue, pick and place with machine vision. CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

Control - the Brain Open loop, i.e., no feedback, deterministic Instructions Rules Closed loop, i.e., feedback Learn Adapt CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

What are some problems with control of robot actions? Joint play, compounded through N joints. Accelerating masses produce vibration, elastic deformations in links. Torques, stresses transmitted depending on end actuator loads. Feedback loop creates instabilities. Delay between sensing and reaction. Firmware and software problems Especially with more intelligent approaches CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

How do you measures of performance of robot? Speed and acceleration Resolution Working volume Accuracy Cost Plus all the kinds of evaluation functions we have talked about for any AI system. CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

Measures of Performance Speed and acceleration Faster speed often reduces resolution or increases cost Varies depending on position, load. Speed can be limited by the task the robot performs (welding, cutting) Resolution Often a speed tradeoff The smallest movement the robot can make Working volume The space within which the robot operates. Larger volume costs more but can increase the capabilities of a robot CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

Accuracy Cost Performance (cont.) The difference between the actual position of the robot and the programmed position Repeatability Will the robot always return to the same point under the same control conditions? Varies depending on position, load Cost Typically a tradeoff – improved performance on other metrics vs lower cost CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

How are robots different from automated machinery? Machinery is designed to carry out a specific task. Bottling machine Dishwasher Paint sprayer Robots are designed to carry out a variety of tasks Pick and place arms Mobile robots Computer Numerical Control machines The lines are becoming blurred. CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

The Future of Robotics. Robots that can learn. Robots with artificial intelligence. Robots that make other robots. Swarms CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

Lab: Look at a couple of robotic videos and note: Which features makes the task something a robot would be used for? What are the components of the robot: Action Sensors Control Power Supply How is their performance? Speed and acceleration Resolution Working volume Accuracy Cost CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

Some good robotics videos. Swimming fish: http://vger.aa.washington.edu/research.html http://www.newscientist.com/article/dn14101-shoal-of-robot-fish-casts-a-wider-data-net.html Robot wars: http://robogames.net/videos.php Japanese robots: http://www.ecst.csuchico.edu/~renner/Teaching/Robotics/videos.html (note: about half the links are broken) Social robots: http://www.ai.mit.edu/projects/humanoid-robotics-group/kismet/kismet.html Miscellaneous Robots: http://www.newscientist.com/article/dn9972-video-top-10-robots.html http://grinding.be/category/robots Swarms http://www.youtube.com/watch?v=SkvpEfAPXn4 CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

Play Robot Constructor http://www.channel4.com/science/microsites/R/robots/constructor.html What options does it give you for Action Sensors Control Power Supply CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

Will robots take over the world? Which decisions can the machine make without human supervision? May machine-intelligent systems make mistakes (at the same level as humans)? May intelligent systems gamble when uncertain (as humans do)? Can (or should) intelligent systems exhibit personality? Can (or should) intelligent systems express emotion? How much information should the machine display to the human operator? HAL - 2001 Space Odyssey CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt