Robotics Robots Slides Courtesy of Benjamin Kuipers Robots

Robotics

Robots Slides Courtesy of Benjamin Kuipers

Robots

Talking Robots • Many talking robots exist, but they are still very primitive • Work with elderly and disabled • Actors for robot theatre, agents for advertisement, education and Dog. com from Japan entertainment. • Designing inexpensive We concentrate on Machine Learning natural size humanoid techniques used to teach robots caricature and realistic behaviors, natural language dialogs robot heads and facial gestures. Work in progress

Robot with a Personality? • Future robots will interact closely with non-sophisticated users, children and elderly, so the question arises, how they should look like? • If human face for a robot, then what kind of a face? • Handsome or average, realistic or simplified, normal size or enlarged? • The famous example of a robot head is Kismet from MIT. • Why is Kismet so successful? • We believe that a robot that will interact with humans should have some kind of “personality” and Kismet so far is the only robot with “personality”.

Robot face should be friendly and funny The Muppets of Jim Henson are hard to match examples of puppet artistry and animation perfection. We are interested in robot’s personality as expressed by its: – behavior, – facial gestures, – emotions, – learned speech patterns.

Morita’s Theory

Virginia Woolf 2001 heads equipped with microphones, USB cameras, sonars and CDS light sensors

2002 Max BUG (Big Ugly Robot) Image processing and pattern recognition uses software developed at PSU, CMU and Intel (public domain software available on WWW). Software is in Visual C++, Visual Basic, Lisp and Prolog.

Maria, 2002/2003 20 DOF

Cynthia, 2004, June

Currently the hands are not moveable. We have a separate hand design project.

• At an IT exhibition on the sidelines of the Asia-Pacific Economic Cooperation (APEC) summit in Busan, a participant shakes hands with a humanoid robot named “Albert Hubo” which has the face of Albert Einstein on Monday. • The robot can walk and speak and expresses emotions by moving facial muscles Albert Hubo

Albert Hubo meets President Bush Help me robo-Einstein, you’re my only hope

1400 BC Babylonians develop the clepsydra, a clock that measures time using the flow of water. It's considered one of the first "robotic" devices in history. For centuries, inventors will refine the design.

322 BC The Greek philosopher Aristotle imagines the great utility of robots, writing, "If every tool, when ordered, or even of its own accord, could do the work that befits it then there would be no need either of apprentices for the master workers or of slaves for the lords. "

1495 Leonardo da Vinci designs a clockwork knight that will sit up, wave its arms and move its head and jaw. It's not certain whether the robot was ever built, but the design may constitute the first humanoid robot.

1737 French inventor Jacques de Vaucanson builds a clockwork duck capable of flapping its wings, quacking, eating and digesting food. Vaucanson’s Digesting Duck followed the principles of Descarte’s mechanistic universe, and bolstered the Enlightenmentera belief that animals were just meat machines, but automatons nonetheless. The ability to create life no longer was the domain of God and of living organisms, but was now captive in the hands of man’s genius. These ideas terrified and excited many people, but were one of the major ideological changes from a natural to a mechanistic world view.

1921 Czech playwright Karl Capek popularizes the term "robot" in a play called "R. U. R. (Rossums Universal Robot). " The word comes from the Czech robota, which means drudgery or forced work. The play ends with robots taking over the earth and destroying their makers.

1961 Unimate, the world's first industrial robot, goes to work on a General Motors assembly line.

1966 The Artificial Intelligence Center at the Stanford Research Center begins development of Shakey, the first mobile robot. It is endowed with a limited ability to see and model its environment and is controlled by a computer that fills an entire room.

1998 A fuzzy, batlike robot called Furby becomes the must-have toy of the holiday season. The $30 toys "evolve" over time, first speaking in gibberish but soon developing the use of preprogrammed English phrases. More than 27 million of the toys sell in a 12 -month period.

Swallowing a Robot

Military Robots

The Honda Humanoid (1997) 27

What is a robot? • A robot is an intelligent system that interacts with the physical environment through sensors and effectors. – Program module? – Web crawling ‘bot? Robot sensors effectors Environment

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. ”

Ideal Tasks which are: – 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.

Slide by Manuela Veloso (on web)

Subject Material Areas • Motion and Control (action) – PID control, open/closed loop control, action modeling, walking, . . . • Sensing and Perception (perception) – Range sensing, vision, filtering, sensor modeling, . . . • Decision Making (cognition) – Behavior architectures, planning, AI, developmental psychology, . . .

Programming languages • NBC, NXC • NXT Python, . NET IDE – interactive development environment http: //www. teamhassenplug. org/NXTSoftware. html

What you will be able to do • Design, build and program simple autonomous robots. • Implement standard signal processing and control algorithms. • Describe and analyse robot processes using appropriate methods. • Write a detailed report on a robot project. • Carry out and write up investigations using appropriate experimental methods.

Basic Hardware • IR sensors (long, medium, short) • Whiskers • Microswitches • • DC motors Servo motors Odometers Sonar

Additional Hardware • PC 104 board + Handyboard Sensors PC 104 (Linux) HB USB Motors USB Camera

Coding on the PC 104 • Vision routines can be written easily using extensive libraries from Intel • Multiple processes: threads are wrapped • Download and Run Managers • Support on Handyboard for – – pulse counting new compass new sonars smooth pwm

Hardware: a warning • Please take extreme care in handling of all hardware – no loose connections – tidy soldering – careful charging – check static – if you are not 100% sure then ASK • We will not be able to replace severely broken kits (you will have to transfer module)

What’s Easy is Hard • Easy: expert systems, mathematics, chess • Hard: seeing, language understanding, moving around, making a cup of tea, common sense • What’s easy for humans is hard for computers and vice versa. Why?

Kinematics and dynamics • Degrees of freedom—number of independent motions – Translation--3 independent directions – Rotation-- 3 independent axes – 2 D motion = 3 degrees of freedom: 2 translation, 1 rotation – 3 D motion = 6 degrees of freedom: 3 translation, 3 rotation

st The 1 robot: Sony AIBO • Several sensors • 20 degrees of freedom • Onboard computing

Technical Details • CPU: 64 bit RISC • Image input: – 64 mb RAM • LAN: 802. 11 b • Degrees of freedom: – – – Head: 3 dof Mouth 1 dof Legs: 3 dof x 4 Ears: 1 dof x 2 Tail: 2 dof – 350, 000 pixel CMOS camera • • • Stereo microphones Infrared distance x 2 Acceleration Vibration Touch: head, back, chin, paw

This class is a lot of work. • Robotics includes many different concepts. – Control theory, logic, probability, search, etc. • Abstraction barriers are very strong in most of Computer Science, but weak in Robotics. – Programs are vulnerable to sensor and motor glitches. • Plan ahead, to put the time in to this course. – Your team will be depending on you.