IT 4 Competing Hopping Swimming Following 6 Competing

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IT기반 지능로봇 예 (4) Competing Hopping Swimming Following 6 Competing

IT기반 지능로봇 예 (4) Competing Hopping Swimming Following 6 Competing

응용사례 유럽의 지능로봇 연구사례 Robot Assistant Home Care Application Museum Tour Guide 응용 Social

응용사례 유럽의 지능로봇 연구사례 Robot Assistant Home Care Application Museum Tour Guide 응용 Social Capability (Cooperation) Human-Like Interaction Situation Awareness Seamless Interaction (Virtual-Real) Neural Network Evolutionary Computation Symbolic Modeling Virtual Reality 고차 기능 기본 방법론 Multi-Agent Modeling 10 Agent Communication Language BDI Agent Architecture Ant-like Agent

응용사례 Social Robot Research (1) • • • 11 Media Lab Europe: http: //anthropos.

응용사례 Social Robot Research (1) • • • 11 Media Lab Europe: http: //anthropos. mle. ie/people/brian. html Social robot architecture BDI agent architecture

응용사례 Social Robot Research (2) 12

응용사례 Social Robot Research (2) 12

응용사례 IBL: Instruction-based Learning for Mobile Robots (1) • • 13 http: //www. tech.

응용사례 IBL: Instruction-based Learning for Mobile Robots (1) • • 13 http: //www. tech. plym. ac. uk/soc/staff/guidbugm/ibl/index. html University of Plymouth, University of Edinburgh Aim of research: Method of knowledge acquisition and learning by intelligent systems (the acquisition of knowledge from natural language instruction) Focus of research – How natural language instructions can be used by intelligent embodied agent to build a hierarchy of complex functions

응용사례 IBL: Instruction-based Learning for Mobile Robots (2) 14

응용사례 IBL: Instruction-based Learning for Mobile Robots (2) 14

응용사례 IBL: Instruction-based Learning for Mobile Robots (3) Environments Miniature Town Miniature Robot View

응용사례 IBL: Instruction-based Learning for Mobile Robots (3) Environments Miniature Town Miniature Robot View from Camera Dialogue Knowledge 15

응용사례 Context Aware Computing • Context awareness : Making machines aware of their contexts

응용사례 Context Aware Computing • Context awareness : Making machines aware of their contexts Indoor Perception of environments 16 Outdoor Contexts Running

응용사례 Minerva • • 17 http: //www-2. cs. cmu. edu/~minerva/ CMU의 robotic learning lab

응용사례 Minerva • • 17 http: //www-2. cs. cmu. edu/~minerva/ CMU의 robotic learning lab 과 독일 Bonn 대학의 컴퓨터 과학과의 협동 연구 Bonn 대학의 세계 최초의 tour guide 로봇인 Rhino를 바탕으로 함 기능 – Occupancy maps – Ceiling mosaics – Localization – Collision avoidance – Path planning – Coastal navigation – High-level control – Web interface – Interaction with humans (emotion)

응용사례 Minerva (2) Control architecture of Rhino 18 E-mail & interpretation as a speech

응용사례 Minerva (2) Control architecture of Rhino 18 E-mail & interpretation as a speech act

응용사례 Minerva (3) 19 High-level task description – Reactive planning language

응용사례 Minerva (3) 19 High-level task description – Reactive planning language

응용사례 • • • 20 http: //www. morph. de A research initiative of the

응용사례 • • • 20 http: //www. morph. de A research initiative of the federal ministry of education and research German (Department of Education and Research in the area of Man. Machine Interaction) Funding period: July 1999 – June 2002 Central idea – To equip intelligent robot assistants with powerful and versatile mechanisms • Communicate, interact and collaborate with human users – In a natural and intuitive way Scenarios – Manufacturing assistant – Robot assistant for housekeeping and home care

응용사례 • 21 Basic research topics – Channels of human-machine communication – Scene analysis

응용사례 • 21 Basic research topics – Channels of human-machine communication – Scene analysis and situation assessment – Teaching, learning, and adaptation – Motion planning and coordination, interactive task planning – Safety, maintenance, diagnoses

응용사례 Agent Chameleons (1) 22 “If I had a world of my own, everything

응용사례 Agent Chameleons (1) 22 “If I had a world of my own, everything would be nonsense, nothing would be what it is, because everything would be what it isn't. And contrary wise, what it is wouldn't be and what it wouldn't be it would" - Lewis Carroll, Alice in Wonderland http: //chameleon. ucd. ie/ 가상 공간에서 실제 물리적인 공간에서보다 더 많은 정보를 제공 물리공간과 가상공간 사이의 경계를 불명확하게 함으로써 두 정보 공간 사이 의 통합을 시도 카멜레온 에이전트를 통해 물리 환경으로부터 가상 공간으로 또는 가상 공간 으로부터 물리 환경으로의 이동

응용사례 SWARM-BOTS Project 25 Objective – To study new approaches to the design and

응용사례 SWARM-BOTS Project 25 Objective – To study new approaches to the design and implementation of selforganizing and self-assembling artifacts Parts – Hardware – Physical construction of s-bots – Simulation environment of s-bots – Control – Evolving self-organizing behavior Web site: http: //www. swarm-bots. org

응용사례 Self-organizing Control of Swarm-bots 26 • Self-organization – Interactions • Among the system’s

응용사례 Self-organizing Control of Swarm-bots 26 • Self-organization – Interactions • Among the system’s lower-level components • Based on only local information – Can be lead robust control systems • Self-assembling – A particular form of self-organization – Connect one to the other creating complex physical structures – Example • Honey bees cluster around the queen • Similar behaviors: birds, fish, mammals

응용사례 Evolving Self-assembling Behavior 27 Designing the control system of the robots – By

응용사례 Evolving Self-assembling Behavior 27 Designing the control system of the robots – By hand – Difficult because the interactions of robots are dynamic – By evolution – Exploiting fully dynamic feature – Without requiring intervention from the designer Evolving self-assembling behavior of s-bots – S-bots have a neural network controller – Self-assembling behavior

향후 발전방향 Layer Approach • B. R. Duffy, The Social Robot, Ph. D. Thesis,

향후 발전방향 Layer Approach • B. R. Duffy, The Social Robot, Ph. D. Thesis, 2000. http: //www. medialabeurope. org/people/b-duffy/pubs/Brian. Duffy-Ph. D-Social-Robot. zip 29