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Robots Past and Future

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

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Robots Past and Future

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

  2. The 1st 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. Early Robots: CART/Rover • 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) • 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 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) • Environment is dynamic • changing over time • full of potentially-useful information • Asimo at Consumers Electronic Show • CES 2007 Las Vegas (3 min 20 sec)

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