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VISIONTRAIN Thematic School

VISIONTRAIN Thematic School. Morphological computation Connecting brain, body and environment Les Houches, 9-14 March 2008 Rolf Pfeifer Artificial Intelligence Laboratory, Department of Informatics University of Zurich, Switzerland. Lecture 2. Design principles for intelligent systems.

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VISIONTRAIN Thematic School

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  1. VISIONTRAIN Thematic School Morphological computation Connecting brain, body and environment Les Houches, 9-14 March 2008 Rolf Pfeifer Artificial Intelligence Laboratory, Department of Informatics University of Zurich, Switzerland

  2. Lecture 2 Design principles for intelligent systems

  3. Contents Lecture 2 • real worlds and virtual worlds • properties of complete agents • the quadruped „Puppy“ as a complex dynamical system • illustration of selected design principles • summary

  4. Contents Lecture 2 • real worlds and virtual worlds • properties of complete agents • the quadruped „Puppy“ as a complex dynamical system • illustration of selected design principles • summary

  5. Real worlds and virtual worlds differences?

  6. Real worlds and virtual worlds differences? chess vs. soccer

  7. Real worlds and virtual worlds • information acquisition takes time • limited information • noise • no clearly defined states • agents must do several things • own dynamics, time pressure • limited predictability, non-linear, sensitivity to initial conditions  bounded rationality

  8. Contents Lecture 2 • real worlds and virtual worlds • properties of complete agents • the quadruped „Puppy“ as a complex dynamical system • illustration of selected design principles • summary

  9. Properties of complete agents • subject to the laws of physics • generation sensory stimulation • affect the environment through behavior • complex dynamical systems • perform morphological computation

  10. Contents Lecture 2 • real worlds and virtual worlds • properties of complete agents • the quadruped „Puppy“ as a complex dynamical system • illustration of selected design principles • summary

  11. Rapid locomotion and “cheap design” • hard problem

  12. Rapid locomotionthe quadruped “Puppy” rapid locomotion in biological systems Design and construction: Fumiya Iida

  13. The quadruped “Puppy”: summary • simple control (!) • no sensors • spring-like material properties • self-stabilization Design and construction: Fumiya Iida

  14. The quadruped “Puppy”: summary • simple control (!) • no sensors • spring-like material properties • self-stabilization principle of “cheap design” Design and construction: Fumiya Iida

  15. The “mini dog” by Fumiya Iida Artificial Intelligence Laboratory Dept. of Information TechnologyUniversity of Zurich

  16. The quadruped “Puppy”: summary • simple control (!) • no sensors • spring-like material properties • self-stabilization Design and construction: Fumiya Iida

  17. “Puppy” on the treadmill

  18. Video from high-speed camera –self-stabilization

  19. Video from high-speed camera –self-stabilization - no sensors - no control

  20. Self-stabilization • “computation” performed by physical dynamics of agent  basin of attraction • stabilization through mechanical feedback • “intra-attractor dynamics” (Kuniyoshi)

  21. Implications of embodiment Pfeifer et al., Science, 16 Nov. 2007)

  22. Implications of embodiment – self-stabilization “Puppy” Pfeifer et al., Science, 16 Nov. 2007)

  23. gait patterns 100 ms LH LF Fast gallop RF RH LH LF Moderate walking RF RH LH LF Fast running trot RF RH t (ms) 500 600 700 800 900 1000 1100 1200 1300 1400 0 100 200 300 400

  24. Gait patterns as attractor states induced through interaction with environment Illustration by Shun Iwasawa

  25. Morphological computation Figure 4.1 Morphological computation. (a) Sprawl robot exploiting the material properties of its legs for rapid locomotion. The elasticity in the linear joint provided by the air pressure system allows for automatic adaptivity of locomotion over uneven ground, thus reducing the need for computation. (b) An animal exploiting the material properties of its legs (the elasticity of its muscle-tendon system) thus also reducing computation. (c) A robot built from stiff materials must apply complex control to adjust to uneven ground and will therefore be very slow.

  26. Fore legs: Hind legs: Gait patterns for grounding a body image Gait 1 Gait 0 (Iida, Gomez and Pfeifer, 2005)

  27. Contents Lecture 2 • real worlds and virtual worlds • properties of complete agents • the quadruped „Puppy“ as a complex dynamical system • illustration of selected design principles • summary

  28. Time-scales and design principles Design principles collective intelligence

  29. Agent design principles

  30. The Three-Constituents Principle • ecological niche • desired behaviors and tasks • design of agent itself scaffolding

  31. Complete Agent Principle When designing an agent, always thank about complete agent behaving in real world.

  32. Regonizing andobject in acluttered environment manipulation of environment facilitatesperception robot experiments by Giorgio Metta illustration byShun Iwasawa

  33. Regonizing andobject in acluttered environment manipulation of environment facilitatesperception complete agent principle principle of information self-strcuturing illustration byShun Iwasawa

  34. Principle of “cheap design” Exploitation of - ecological niche - characteristics of interaction with environment  design easier: “cheap” Example: • Lecture 1: “Swiss robots”

  35. The “Passive Dynamic Walker”

  36. CornellMIT Delft Humanlocomotion Passive Dynamic Walker (Cornell) mehr später Denise (Delft) Qrio (Sony) Asimo (Honda)

  37. “Passive Dynamic Walker” – the brainless robot (1) walking without control Design and construction: Ruina/Wisse/Collins, Cornell University • Morphology: • shape of feet • counterswingof arms • friction onbottom of feet

  38. “Passive Dynamic Walker” – the brainless robot (2) walking without control Design and construction: Ruina/Wisse/Collins, Cornell University • Morphology: • shape of feet • counterswingof arms • friction onbottom of feet  self-stabilization principle of “cheap design”

  39. Implications of embodiment Pfeifer et al., Science, 16 Nov. 2007)

  40. Implications of embodiment – self-stabilization passive dynamic walker Pfeifer et al., Science, 16 Nov. 2007)

  41. Where is the memory for walking?

  42. Extending the “Passive Dynamic Walker” – the almost brainless robot Design and construction: Ruina/Wisse/Collins, Cornell University Collins, Ruina, Tedrake • Morphology: • shape of feet • counterswingof arms • friction onbottom of feet “Denise” Martijn Wisse

  43. Extending the “Passive Dynamic Walker” – the almost brainless robot walking with little control Design and construction: Martijn Wisse, Delft University • Morphology: • wide feet • counterswing of arms • friction on bottom of feet • high energy efficiency  self-stabilization

  44. Pneuman: passive dynamic walker(with pneumatic actuators and torso) design and construction: Koh Hosoda, Osaka University  self-stabilization only hip-joint actuated others: passive but pre-pressured (closed valves)

  45. Implications of embodiment – self-stabilization Denise (Wisse) Pneuman (Hosoda) (Pfeifer et al., Science, 16 Nov. 2007)

  46. Famous robots:Asimo, Qrio, H-7, HOAP-2, HRP-2 HOAP-2 (Fujitsu) Asimo (Honda) H-7 (Univ. of Tokyo) Qrio (Sony) HRP-2 (Kawada)

  47. Famous robots:Asimo, Qrio, H-7, HOAP-2, HRP-2 HOAP-2 (Fujitsu) Asimo (Honda) H-7 (Univ. of Tokyo) Qrio (Sony) HRP-2 (Kawada)

  48. Famous robots:Asimo, Qrio, H-7, HOAP-2, HRP-2 no exploitation of dynamics, morphology, and materials HOAP-2 (Fujitsu) Asimo (Honda) H-7 (Univ. of Tokyo) Qrio (Sony) HRP-2 (Kawada)

  49. Biped walking:Exploiting interaction with environment • leg as pendulum • control for free • energy efficiency • self-stabilization principle of “cheap design”

  50. “Cheap” diverse movement and locomotion

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