1. Robots Past and Future Based on a lecture by Dr. Hadi Moradi University of Southern California

2. The 1 st Mobile Robot: SHAKEY SRI: Stanford Research Institute (1966-1972) Camera (120x120x4) laser range finder Off-board computing (DEC PDP-10 and 15) Goal: study the methods of interaction with a complex environment

3. Early Robots: SHAKEY Problem: Move about and manipulate objects Environment: Single room painted black and white 3 level action –Low level: Simple moving, turning, route planning –Intermediate level: Connecting low level actions together to achieve more complex tasks –High level: To execute plans to achieve goals given by the user. STRIPS (Stanford Research Institute Planning System) planner What kind of control system is it?

4. Early Robots: HILARE LAAS in Toulouse, France (1977) Wheels: 2 driving wheels and a free wheel Batteries: 24V Processors: 4 x Intel 80286

5. Early Robots: HILARE Operating system: none Communication: serial radio modem (9600 bauds) Sensors: Odometer, 16 US sensors, a Laser Range Finder Dimensions (LxWxH): 80cm x 80cm x 60 cm Weight: 400kg Control system: Deliberative -> Hybrid

6. Early Robots: CART/Rover Hans Moravec 1977 Stanford, 1983 CMU Sonar and vision Deliberative control CART: To follow a white line

7. Early Robots: CART/Rover

8. Stereoscopic 3D mapping and navigation 5 hours to cover 30 meters

9. Early Robots: CART/Rover

10. Robotics Today Assembly and manufacturing

11. Robotics Today Material Handling Gophers (Hospitals, Security guards) Hazardous environment (Chernobyl)

12. Robotics Today Remote environment (Pathfinder) Rocket man

13. Robotics Today Surgery (brain, hips)

14. Robotics Today Tele-presence and virtual reality Man-machine interface – emotional robots Nursing and home care Surgeons help, remote surgery Home chores Security and protection Self-assembly Autonomous vehicles Sea and space Investigation Entertainment and art Toys (1min 45 sek)Toys Children playing with robot and two dogs (3 min 15 sec) –Tokyo Lecture 1 time 1:45:00-1:48:15

15. Key Issues Grounding in reality: not just planning in an abstract world Situatedness (ecological dynamics): tight connection with the environment Embodiment: having a body Emergent behavior: interaction with the environment Scalability: increasing task and environment complexity Humanoid robot (10 min) –Tokyo Lecture 1 time 1:55:00-2:05:00

16. Future? Basic Industrial Industrial Robots in ActionIndustrial Robots in Action (3min 13 sek)

17. Future? Basic home operations

18. Future? Indoor Manipulation

19. Future? Simple Chores Asimo (1 min 30 sec) Asimo Walking humanoid robot (8 min 24 sec)

20. Why is Robotics hard? Sensors are limited and crude Effectors are limited and crude State is partially-observable –internal and external, but mostly external –Asimo and stairs (36 sec)Asimo and stairs (36 sec) Environment is dynamic –changing over time –full of potentially-useful information Asimo at Consumers Electronic Show CES 2007 Las Vegas (3 min 20 sec)CES 2007 Las Vegas