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BEHAVIOR BASED ROBOTICS

BEHAVIOR BASED ROBOTICS. IN ABOUT 10 MINUTES. by Don McFarland. Classical Design Brooks’ Ideas Two BBR Examples Summary. Design by Introspection. I perceived a painful change I adjusted my internal model I planned my response I am acting out the plan. Classic Robot Architecture.

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BEHAVIOR BASED ROBOTICS

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  1. BEHAVIOR BASED ROBOTICS IN ABOUT 10 MINUTES by Don McFarland

  2. Classical Design • Brooks’ Ideas • Two BBR Examples • Summary

  3. Design by Introspection • I perceived a painful change • I adjusted my internal model • I planned my response • I am acting out the plan

  4. Classic Robot Architecture FROM SENSORS TO ACTUATORS PLANNING TASK EXECUTION PERCEPTION MODELLING MOTOR CONTROL

  5. The Classic Robot SHAKEY • Stanford/Nilsson ‘69 • goal-directed agent (STRIPS planning) • simple environment • slow as molasses

  6. A Different Approach • 1984: Three groups: MIT(Agre,Chapman), SRI(Rosenschien, Kaelbling), MIT(Brooks) • Tightly couple sensing and action • Avoid internal (symbolic) world model • Organize systems by behaviors • A lot more …

  7. Behavior-Based Robotics (BBR) Reflex BBR Reflex + State AGENTS Goal-Based Classical Utility-Based Simple Complex ENVIRONMENTS

  8. Central Brooksian Ideas • “The world is its own model” • Situated-ness: senses its surroundings • Embodied: physically in the world • Evolve systems from simple behaviors up to complex behaviors

  9. nose CONFUSED STUDENT feet confusion confusion confusion confusion nose nose stomach nose PIZZA An student-avoiding, pizza-seeking TA

  10. Student avoider … confusion feet avoid

  11. FEED “SUBSUMES” AVOID … and pizza-seeker stomach nose feed confusion feet avoid S “SUBSUMPTION ARCHITECTURE”

  12. A Bug Example: Genghis • Standup • Simple walk • Force balancing • Leg lifting • Whiskers • Pitch stabilization • Prowling • Steered prowling

  13. COG KISMET Brooks’ Recent Work Cynthia Breazeal

  14. Summary • Brooks 1984 shifted from goal-directed agents in artificial/simulated worlds to reflex agents in dynamic, complex worlds. • Idea 1: situated, embodied robots using the world as its own model. • Idea 2: pattern after biological evolution (and design from simplest behaviors, overlaid by more complicated)

  15. QUESTIONS?

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