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Personal Robotics: Empowering Everyone with Customizable Solutions

Explore the world of personal and ubiquitous robotics, from custom orthotics to home automation and research tools. Design, fabricate, and control robots for diverse applications with user-driven, user-in-the-loop automation. Discover the potential of software-defined hardware and hierarchical composition algorithms for on-demand robot creation. Join the UCLA Laboratory for Embedded Machines and Ubiquitous Robots to revolutionize electromechanical design and integrated manufacturing.

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Personal Robotics: Empowering Everyone with Customizable Solutions

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  1. Personal and ubiquitous robotics Ankur Mehta mehtank@ucla.edu

  2. Robots everywhere for everyone • “No need to build good robots” • Jason O'Kane • We need to build bad robots • simple functionality • negligible robustness • limited reliability • Any automation is better than no automation Ankur Mehta mehtank@ucla.edu 2

  3. Application space • Unspecified problems • Constrained resources • Home automation • Personal assistance • Custom orthotics • Research tools • Prototyping • Education Ankur Mehta mehtank@ucla.edu 3

  4. A circuit analogy • ASIC: Fully specified design from ground up • Digital standard cells? Breadboards? • FPGA / SOC: Single all-purpose device Ankur Mehta mehtank@ucla.edu 4

  5. User-driven robotics • Enable the on-demand creation of custom printable electromechanical systems • Design intuitively • Fabricate inexpensively • Control autonomously • Iterate rapidly Ankur Mehta mehtank@ucla.edu 5

  6. Pervasive personal robotics • “There’s a robot for that.” • Ubiquitous • Broad userbase • Diverse functionality • Personal • Application specific • On demand Ankur Mehta mehtank@ucla.edu 6

  7. Questions Questions Design Design Answers Answers Specification Design User-in-the-loop design automation Ankur Mehta mehtank@ucla.edu 7

  8. Robot compiler vision Autonomously design, manufacture, and control robotic systems from a high-level task specification Big picture goal: $ vim myrobot.rbt “I want a robot to play chess with me” $ make myrobot Parsing specification …done. Determining behaviors …done. Generating mechanisms …done. Assembling components …done. Printing …done. Success! Ankur Mehta mehtank@ucla.edu 8

  9. A world full of robots? • Design systems • (c.f. app engines, EDA) • High level definition (Domain specific languages) • Printable manufacturable designs • Full-stack verification, validation, and optimization? Ankur Mehta mehtank@ucla.edu 9

  10. A world full of robots? • Hardware • Integrated manufacturing tools • Structures • Circuits • Sensors and actuators • Components and building blocks • Processing • Communications • Control Ankur Mehta mehtank@ucla.edu 10

  11. A world full of robots • Algorithms and applications • Control • Distributed • Underactuated • Secure / fault tolerant • Systems • Application-aware integration • Human interfacing Ankur Mehta mehtank@ucla.edu 11

  12. Software-defined hardware • Structural building blocks • Software building blocks • Electrical building blocks • UI elements Ankur Mehta mehtank@ucla.edu 12

  13. Sub- components Common object-oriented interface Component Library Parameter constraints Input parameters Exposed interfaces Composition algorithms Implementation algorithms Fabricable specifications Ankur Mehta mehtank@ucla.edu 13

  14. Hierarchical composition algorithms Ankur Mehta mehtank@ucla.edu 14

  15. Robot creation pipeline Functional decomposition Structural constraints Behavioral constraints • Input: Functional specification • Output: Mission accomplished! Modular composition Structural specification 2x Co-design implementation Parameterized model Realization Fully specified design Fabrication Operation Robot Ankur Mehta mehtank@ucla.edu 15

  16. Custom on-demand robots! Ankur Mehta mehtank@ucla.edu 16

  17. Integrated single-chip robot? Ankur Mehta mehtank@ucla.edu 17

  18. UCLA Laboratory for Embedded Machines and Ubiquitous Robots • Electromechanical design automation • Integrated electromechanical manufacturing • Wireless communication circuits and protocols • Distributed sensing, actuation, and control • Robotics in education • Obligatory plugs – I'm looking for: • Research collaborators • Talented postdocs Ankur Mehta mehtank@ucla.edu 18

  19. Internet of things (and robots) Ankur Mehta mehtank@ucla.edu 19

  20. Motivational quotes • The perfect is the enemy of the good • Just do it • Move fast and break things • If at first you don't succeed, try try again • We'll fix it in post Ankur Mehta mehtank@ucla.edu 20

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