1 / 20

A Robot that Walks; Emergent Behaviors from a Carefully Evolved Network Rodney A. Brooks

A Robot that Walks; Emergent Behaviors from a Carefully Evolved Network Rodney A. Brooks. INTRODUCTION. It is built integrating relatively large number of sensor inputs and large number of actuator outputs.

judah
Download Presentation

A Robot that Walks; Emergent Behaviors from a Carefully Evolved Network Rodney A. Brooks

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. A Robot that Walks; Emergent Behaviors from a Carefully Evolved Network Rodney A. Brooks

  2. INTRODUCTION • It is built integrating relatively large number of sensor inputs and large number of actuator outputs. • It consists of a series of networks each one being the strict augmentation of the previous one.

  3. ENVIRONMENT • It is carried out in a dynamic real world environment

  4. SENSORS • Twelve force sensors • Six pyro -electric sensors • Two inclinometers one for pitch and the other for roll measurement • Two whiskers in the front.

  5. EFFECTORS • It consists of motors located in legs of the robot which are effected by these sensors.

  6. MOTIVATIONS • Its main aim is to walk and follow a person passively. • It is mainly used as a test bed for Brook’s subsumption architecture.

  7. SUBSUMPTION ARCHITECTURE • It provides a incremental method for building robot control systems linking perception to action. • It is implemented by means of augmented finite state machines. • The network is augmented in a incremental way to improve the performance.

  8. AUGMENTED FINITE STATE MACHINE • Simple behaviors performed by AFSM are hierarchically organized so that more complex behaviors emerge. • Inhibition and Suppression between behavior modules produce provides distributed control. • This system results in pre-wired patterns of behaviors.

  9. AUGMENTED FSM

  10. NETWORK AND EMERGENT BEHAVIORS • There are two motors in each leg. alpha-motor (for advance) which swings leg back and forth beta-motor (for balance) which swings the leg up and down

  11. 57 Augmented FSM

  12. SIMPLE WALK

  13. PROWLING • The pyro-electric infrared sensors sends an activity message to the prowl machine when it detects motion. • The prowl machine inhibits the leg-lifting trigger message from the walk machine.

  14. STEERED PROWLING • It takes note of the predominant direction from the infrared activity. • It writes in a register in each alpha pos of leg and stops back swinging motion of leg. • This forces the robot to turn in the direction of motion.

  15. LEARNING TO CO-ORDINATE BEHAVIORS • Develop an algorithm for learning the control of behaviors through experience. • The algorithm must be completely distributed. • Each behavior tries to learn when it should become active.

  16. THE LEARNING TASK • It incrementally change the precondition list of behaviors. • The behaviors which become active should satisfy follow two constraints • Behaviors are relevant. • Behaviors are reliable.

  17. THE ALGORITHM

  18. Cont.. • Similarly the same formula is applied to find out corr(N,A). • The relevance of a particular behavior is defined as Corr(P,A) – Corr(N,A). The more relevant behavior has more chances of becoming active.

  19. Reliability • The reliability of a behavior is defined as

  20. Cont.. • The reliability of a behavior is used to decide whether the behavior should try to improve itself. • If behavior is not reliable then a new perceptual condition is picked and checked. • All this process takes place in cyclic manner.

More Related