Cmrobobits creating an intelligent aibo robot
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CMRoboBits: Creating an Intelligent AIBO Robot. Instructors: Prof. Manuela Veloso & Scott Lenser TAs: Douglas Vail & Nick Aiwazian Further Support: Dr. Paul Rybski, Sonia Chernova 15-491, Fall 2003 http://www.andrew.cmu.edu/course/15-491 Computer Science Department Carnegie Mellon.

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CMRoboBits: Creating an Intelligent AIBO Robot

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Cmrobobits creating an intelligent aibo robot

CMRoboBits: Creating an Intelligent AIBO Robot

Instructors: Prof. Manuela Veloso & Scott Lenser

TAs: Douglas Vail & Nick Aiwazian

Further Support: Dr. Paul Rybski, Sonia Chernova

15-491, Fall 2003

http://www.andrew.cmu.edu/course/15-491

Computer Science Department

Carnegie Mellon


Why this new course

Why This New Course?

  • Our robot soccer experience

    • Long: since 1996

    • Diversified: simulation, small-size, Sony 4-legged

    • Hard work, frustration, fun, struggle, success

    • A LOT learned on:

Creating teams of complete intelligent robots.


Legged robots

Legged Robots

  • Remarkable hardware - SONY AIBO robots


Intelligent complete robot

Action

Intelligent Complete Robot

Perception

Cognition

Sensors

Actuators

External World


Autonomy

Autonomy

  • Perception

    • sensing, modeling of the world

  • Cognition

    • behaviors, action selection, planning, learning

    • multi-robot coordination, teamwork

    • response to opponent, multi-agent learning

  • Action

    • motion, navigation, obstacle avoidance


Perception vision

Perception: Vision

  • Real-time and robust

  • Effective calibration

  • Colored blobs identified as objects

  • Confidence computed


Cognition behaviors

Cognition: Behaviors

Recover

not see ball

timeout

Score

Search

not see ball

not see ball

next to ball

Approach

not next to ball

see ball


Action motion

Action: Motion

  • Four-legged walking

  • Head motion

  • Turning, kicking


What is this new course

What is This New Course?

  • Beyond robot soccer

  • CMRoboBits:

    • From CMPack, break into modular robot “bits”

    • Learn the CMRoboBits within a concrete robot

  • AIBO

    • Commercially available to the public since June’02

    • Robust hardware, modular software


The syllabus

The Syllabus

  • Sensors

  • Basic behaviors

  • Motion

  • Vision

  • Localization

  • Complex behaviors

  • Multi-robot behaviors


The evaluation

The Evaluation

  • Weekly homeworks

    • hands-on lab work with the AIBO robots

    • some also include written questions

  • One final project

  • Homeworks: 75%

  • Final project: 25%

  • Groups of 2 or 3 students: each student in the group must be fully responsible for each homework


Resources and readings

Resources and Readings

  • Readings and videos are available at: http://www.cs.cmu.edu/~coral

  • AIBOs are being used widely in RoboCup: http://www.robocup.org

  • The OpenR Web page has a lot of information: http://openr.aibo.com

  • Tekkotsu is a serious effort to build an API for the AIBOs: http://www.cs.cmu.edu/~tekkotsu


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