* Your assessment is very important for improving the workof artificial intelligence, which forms the content of this project
Download Comp 1017 Robots
Survey
Document related concepts
Philosophy of artificial intelligence wikipedia , lookup
Kevin Warwick wikipedia , lookup
Adaptive collaborative control wikipedia , lookup
Visual servoing wikipedia , lookup
Super Robot Monkey Team Hyperforce Go! wikipedia , lookup
Ricky Ricotta's Mighty Robot (series) wikipedia , lookup
The City and the Stars wikipedia , lookup
Embodied cognitive science wikipedia , lookup
Self-reconfiguring modular robot wikipedia , lookup
Index of robotics articles wikipedia , lookup
Transcript
Why Study Robots now? MIT Kismet Honda Asimo 2003 Sojourner 1996 NavLab (CMU) CBP 2003 Robot lecture 2 1 Moore’s Law - Computers and Brains AI CBP 2003 Robot lecture 2 Figure from ROBOT, Moravec, Oxford, 1998, Chapter 3: Power and Presence, page 68 2 Why learn to program with Robots ? 1. Robots are becoming commercially viable – need developers 2. Serious promise of Artificial Intelligence – needs researchers 3. Fundamental aspects : 1. Good vehicle for teaching programming … 2. Important analogy of each living being … the Self 3. Important analogy of societies … Communication N.B. we are thinking of Autonomous Robots CBP 2003 Robot lecture 2 3 CBP 2003 Robot lecture 2 4 Human Robot Human Group Robot Group CBP 2003 Robot lecture 2 5 Human Qualities Affective Cognitive Thinking Feeling s Knowin g Emotions CBP 2003 Robot lecture 2 Psychomotoric Acting Behavin g 6 Behaviour Modules Collision SearchLight Idea is to split overal desired behaviour into a number of “modules” of program code which can run independently. These may be arranged to have priorities Wander CBP 2003 Robot lecture 2 7 Rod Brookes + Cogs CBP 2003 Robot lecture 2 8 Combining Behaviours Subsumption (Brookes) bumper eyes Collide s Searchlight s Wander Behaviour Modules s Motors Combine by subsumption CBP 2003 Robot lecture 2 9 DARPA ALV (Autonomous Land Vehicle) Internalized Plans Behaviour 3 Behaviour 2 Behaviour 1 sensors s s s Motors There IS a global map ! CBP 2003 Robot lecture 2 10 Braitenberg (1984), Vehicles: Experiments in Synthetic Psychology, MIT Press. CBP 2003 Robot lecture 2 11 Braitenberg Vehicles Wander lamp Braitenberg Collide LM CPU SearchLight RM Choice of Behaviour CBP 2003 Robot lecture 2 12 Java Behaviour Routines lamp Braitenberg LM eyeLF eyeRF RM public void wander() { forever { wander_flag = true; wanderOpL = 10; wanderOpR = 10; muMonDefer(); } } public void searchlight() { forever { if(eyeLF > eyeRF) { searchlight_flag = true; searchlightOpR = ??; searchlightOpL = ??; muMonSleep(100); searchlight_flag = false; Behaviour Routines } if(eyeLF > 0) { CBP 2003 Robot lecture 2 13 Two motors Two Dimensions If the connections are not crossed, then it turns away from excitation – coward Ipsilateral excitation CBP 2003 Robot lecture 2 14 Uncrossed inhibitory connections (note the –sign) give ipsilateral inhibition: Turns towards the light and slows down as it gets close CBP 2003 Robot lecture 2 15 Brood Sorting The Emergence of Intelligence robot puck Martijn Schut http://www.cs.vu.nl/~zos CBP 2003 Robot lecture 2 16 Problem is to get one (or more) autonomous robots to clear the junk into heaps … • How to do the programming ? • Imagine doing the clearing up yourself ! Program the Robots explicitly to • find an object • take an object • go back to cluster • find a cluster • drop an object CBP 2003 Robot lecture 2 17 Alternative Program the robots to avoid things CBP 2003 Robot lecture 2 18 Conclusions : • Behaviour Emerges ! • Intelligence in the Indivudal or Group ? CBP 2003 Robot lecture 2 19 • Messor Sancta ants • 1,500 corpses • 26 hours • Put dead ants into graveyards by walking around bumping into them CBP 2003 Robot lecture 2 20 • Football as benchmark for AI advances • Worldwide competitions since 1997 • Current Leagues SmallSize Simulation MidSize Sony Dog Humanoide CBP 2003 Robot lecture 2 21 CBP 2003 Robot lecture 2 22