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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
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 • Remarkable hardware - SONY AIBO robots
Action Intelligent Complete Robot Perception Cognition Sensors Actuators External World
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 • Real-time and robust • Effective calibration • Colored blobs identified as objects • Confidence computed
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 • Four-legged walking • Head motion • Turning, kicking
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 • Sensors • Basic behaviors • Motion • Vision • Localization • Complex behaviors • Multi-robot behaviors
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 • 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