1. AI in Robotics April 23, 2008 Michael Buynak

2. Layout Introduction to robotics Ethics Historical (lots of videos)  Past  Present  Future

3. About robotics 'Robot' – introduced by Karl Capek in R.U.R. (1921)  We’d call them androids  means ‘forced labor’  Robots conquer the world Electromechanical system that seems like it knows what it’s doing  Assembly lines  Sweeping floors  Driving Needs to have some sort of intelligence

4. Purpose? Increase the quality of life Perform tasks that are to  Dangerous  Repetitive  Precise  Hard to reach  Boring My philosophy  If it’s too much work for you, make a computer do it.

5. Ethics Humans rely on machines  Could they take over? The Matrix Isaac Asimov & Bill Joy  Hesitant about really smart robots Three Laws + 1  0) A robot may not harm humanity, or, by inaction, allow humanity to come to harm.  1) A robot may not injure a human being or, through inaction, allow a human being to come to harm.  2) A robot must obey orders given to it by human beings, except where such orders would conflict with the First Law.  3) A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. Why the future doesn’t need us

6. Old robot arm Unimate  Robotic arm 2 tons 3 DOF  Assembly Line  Hard coded http://youtube.com/watch?v=0A9kks2Ascc

7. Progression Denso  6 DOF  Still hardcoded though http://youtube.com/watch?v=lyDA7LcSvZ c

8. Roomba Somewhat intelligent  Follow walls  Avoid obstacles Including stairs and IR beams  Finds it’s way back to the charging station No real model of the world at large http://youtube.com/watch?v=HqhIMFQNGCg

9. Markov Processes Markov Property  You can predict the future and know the past from only the current Sensor data is infallible  Fully Observable  Markov Decision Processes (MDP) Data is deterministic Sensor data has inherent flaws  Partially Observable  POMDP Data is stochastic

10. Error Deterministic  Error may accrue geometrically Probabilistic model

11. Bayes Filter Take data Move around Take more data Make a model Use it and update it

12. DARPA Grand Challenge Traverse 150 miles of the Mojave Desert  $1 million to the winner 2004  Best distance was 7 miles 2005  Completed in 6:54 by Stanford University  Carnegie Mellon at 7:05 and 7:14 http://youtube.com/watch?v=LZ3bbHTsOL4

13. DARPA Urban Challenge Navigate an urban arena  Obey all traffic laws  Merge with other traffic  6 hours to complete 60 mile course 36 semi-finalists  6 teams finished  4 teams finished under 6 hours  Carnegie Mellon won at 4:10:20  Stanford at 4:29:28

14. Walking robots Boston Dynamics  Big Dog  Cool legs  Smart stability, walking  http://youtube.com/watch?v=W1czBcnX1Ww http://youtube.com/watch?v=W1czBcnX1Ww

15. Star Wars Deka’s ‘Luke’ arm  Deka lead by Dean Kamen  Intelligent user interface  Most advanced robot arm ever? http://youtube.com/watch?v=R0_mLumx-6Y

16. Where it’s going Interaction with humans  In your home  At work Could become revolting before it’s usable  ‘Uncanny Valley’

17. SMU Robotics Autonomous Underwater Vehicle (AUV)  Competition in August in San Diego 11 th place last year  Best new entry  We beat MIT, UTD, CU Boulder, Duke... If you’re interested, we’ve got cool toys

18. Fun Stuff How to survive a robot uprising  http://youtube.com/watch?v=IcA8STwMHn8 http://youtube.com/watch?v=IcA8STwMHn8 Microsoft Robotics Studio  http://msdn2.microsoft.com/en- us/robotics/default.aspx http://msdn2.microsoft.com/en- us/robotics/default.aspx SMU robotics  http://groups.google.com/group/smu_robot/web /usv-home-page http://groups.google.com/group/smu_robot/web /usv-home-page

19. Questions or Comments?

20. References http://en.wikipedia.org/wiki/R.U.R._(Rossum's_Universal_Robots) http://en.wikipedia.org/wiki/Robot http://science.howstuffworks.com/robot2.htm http://en.wikipedia.org/wiki/DARPA_Grand_Challenge http://en.wikipedia.org/wiki/Bill_Joy http://en.wikipedia.org/wiki/Raymond_Kurzweil Why the future doesn’t need us  http://www.wired.com/wired/archive/8.04/joy_pr.html http://www.wired.com/wired/archive/8.04/joy_pr.html http://www.robotics.utexas.edu/rrg/learn_more/history/ Unimate  http://youtube.com/watch?v=0A9kks2Ascc http://youtube.com/watch?v=0A9kks2Ascc Carnegie Mellon Peg Bowling  http://youtube.com/watch?v=lyDA7LcSvZc http://youtube.com/watch?v=lyDA7LcSvZc Roomba  http://youtube.com/watch?v=HqhIMFQNGCg http://youtube.com/watch?v=HqhIMFQNGCg Swarm robotics  http://youtube.com/watch?v=rYIkgG1nX4E http://youtube.com/watch?v=rYIkgG1nX4E DARPA Grand Challenge winning moment  http://youtube.com/watch?v=LZ3bbHTsOL4 http://youtube.com/watch?v=LZ3bbHTsOL4 Boston Dynamics ‘Big Dog’  http://youtube.com/watch?v=W1czBcnX1Ww http://youtube.com/watch?v=W1czBcnX1Ww Dean Kamen’s Luke Arm  http://youtube.com/watch?v=R0_mLumx-6Y http://youtube.com/watch?v=R0_mLumx-6Y http://en.wikipedia.org/wiki/Uncanny_Valley