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Robotics

Robotics Why Robotics? Practice Promise Why Robotics? Vibrant field Why Robotics? A window to the soul... Advances in AI and in Robotics are one and the same thing. What is a robot? What is a robot? MOVIT line follower Rug Warrior Self-guiding golf cart Sea-man USC helicopter

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Robotics

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  1. Robotics

  2. Why Robotics? Practice Promise

  3. Why Robotics? Vibrant field

  4. Why Robotics? A window to the soul... Advances in AI and in Robotics are one and the same thing.

  5. What is a robot?

  6. What is a robot? MOVIT line follower Rug Warrior Self-guiding golf cart Sea-man USC helicopter Al Gore Ripley’s Exoskeleton Battlescar the BattleBot

  7. categorizing robots Abstraction just is software hardware human-controlled Autonomy independent

  8. categorizing robots Abstraction just is software hardware human-controlled Autonomy independent

  9. What is robotics? Autonomous : Robot :: ________ : Mudder Sleeping Unicycling Overworked Robot a physical system that autonomously senses the environment and acts in it.

  10. Robot timeline ... 1921

  11. Robot timeline Isaac Asimov’s Laws of Robotics First Law: A robot may not injure a human being, or, through inaction, allow a human being to come to harm. Second Law: A robot must obey orders given it by human beings, except where such orders would conflict with the First Law. Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. Karl Capek ... I, Robot 1921 1950

  12. Robot timeline Karl Capek ... I, Robot 1921 1950 2020

  13. Robot timeline Karl Capek Dalek ... I, Robot 1921 1950 2020 2150

  14. Robot timeline Karl Capek Dalek ... I, Robot 1921 1950 2020 2150 2421

  15. Real robot timeline “Tortoise” ... 1951

  16. Shakey Nils Nilsson @ Stanford Research Inst. first “general-purpose” mobile platform ... ... 1968

  17. Shakey Nils Nilsson @ Stanford Research Inst. first “general-purpose” mobile platform Living Room (L) Kitchen (K) sp tv sh tvg Bedroom (B) ... ... 1968

  18. Shakey Start START • Go(x,y) • Preconditions: At(sh,x) • Postconditions: At(sh,y) • Push(obj,x,y) • Preconditions: At(sh,x)  At(obj,x) • Postconditions: At(sh,y)  At(obj,y) ACTIONS At(sh,L)  At(sp,K)  At(tvg,B)  At(tv,L) Go(L,B) Push(tv,L,B) Go(L,K) Push(tv,L,K) At(sh,K)  At(sp,K)  At(tvg,B)  At(tv,K) At(sh,L)  At(sp,L)  At(tvg,L)  At(tv,L) GOAL

  19. Stanford Cart Hans Moravec @ SAIL ACTING “functional” task decomposition SENSING planning perception task execution motor control world modeling ... ... 1976

  20. Cartland

  21. Insects Rodney Brooks @ MIT planning and reasoning “behavioral” task decomposition identify objects build maps ACTING SENSING explore wander avoid objects ... ... 1985

  22. Subsumption Architecture runaway behavior FSM / DFA

  23. Subsumption Architecture wander behavior runaway behavior FSM / DFA

  24. Subsumption Architecture navigate behavior wander behavior runaway behavior FSM / DFA

  25. Subsumption Architecture Genghis in action!

  26. Beyond subsumption Navlab & ALVINN Polly ... ... 1995

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