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Robots Past and Future. Based on a lecture by Dr. Hadi Moradi University of Southern California. The 1 st Mobile Robot: SHAKEY. SRI: Stanford Research Institute (1966-1972) Camera (120x120x4) laser range finder Off-board computing (DEC PDP-10 and 15)
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Robots Past and Future Based on a lecture by Dr. Hadi Moradi University of Southern California
The 1st Mobile Robot: SHAKEY • SRI: Stanford Research Institute (1966-1972) • Camera (120x120x4) • laser range finder • Off-board computing (DEC PDP-10 and 15) Goal: study the methods of interaction with a complex environment
Early Robots: SHAKEY • Problem: Move about and manipulate objects • Environment: Single room painted black and white • 3 level action • Low level: Simple moving, turning, route planning • Intermediate level: Connecting low level actions together to achieve more complex tasks • High level: To execute plans to achieve goals given by the user. • STRIPS (Stanford Research Institute Planning System) planner • What kind of control system is it?
Early Robots: HILARE • LAAS in Toulouse, France (1977) • Wheels: 2 driving wheels and a free wheel • Batteries: 24V • Processors: 4 x Intel 80286
Early Robots: HILARE • Operating system: none • Communication: serial radio modem (9600 bauds) • Sensors: Odometer, 16 US sensors, a Laser Range Finder • Dimensions (LxWxH): 80cm x 80cm x 60 cm • Weight: 400kg • Control system: Deliberative -> Hybrid
Early Robots: CART/Rover • Hans Moravec • 1977 Stanford, 1983 CMU • Sonar and vision • Deliberative control • CART: To follow a white line
Early Robots: CART/Rover • Stereoscopic 3D mapping and navigation • 5 hours to cover 30 meters
Robotics Today • Assembly and manufacturing
Robotics Today • Material Handling • Gophers (Hospitals, Security guards) • Hazardous environment (Chernobyl)
Robotics Today • Remote environment (Pathfinder) • Rocket man
Robotics Today • Surgery (brain, hips)
Robotics Today • Tele-presence and virtual reality • Man-machine interface – emotional robots • Nursing and home care • Surgeons help, remote surgery • Home chores • Security and protection • Self-assembly • Autonomous vehicles • Sea and space Investigation • Entertainment and art • Toys (1min 45 sek) • Children playing with robot and two dogs (3 min 15 sec) • Tokyo Lecture 1 time 1:45:00-1:48:15
Key Issues • Grounding in reality: not just planning in an abstract world • Situatedness (ecological dynamics): tight connection with the environment • Embodiment: having a body • Emergent behavior: interaction with the environment • Scalability: increasing task and environment complexity • Humanoid robot (10 min) • Tokyo Lecture 1 time 1:55:00-2:05:00
Future? Basic Industrial • Industrial Robots in Action • (3min 13 sek)
Future? Simple Chores Asimo (1 min 30 sec) Asimo Walking humanoid robot (8 min 24 sec)
Why is Robotics hard? • Sensors are limited and crude • Effectors are limited and crude • State is partially-observable • internal and external, but mostly external • Asimo and stairs (36 sec) • Environment is dynamic • changing over time • full of potentially-useful information • Asimo at Consumers Electronic Show • CES 2007 Las Vegas (3 min 20 sec)