Case Studies and Examples

1. Case Studies and Examples Situated Robots and Reactive Behavior

2. Outline • AIBO • Tin Man • Sage and SweetLips • AAAI – 2000 Mobile Robot Challenge • Bio-Inspired Robots • Robot Improv • Leonardo

3. AIBO: Sony’s Robotic Dog • Learns, develops unique personality • Range of emotions and instincts • 18 degrees of freedom • Sensors: touch, vision, hearing, balance

4. TinMan and Wheelesley: Assistive Robotics • http://www.kipr.org/robots/tm.html 1997 • Help mobility impaired persons • Controller between joystick and motor controls • Avoids obstacles (limbo contest) • Pacing and tracking 2005

5. Sage and SweetLips:Autonomous Mobots http://www-2.cs.cmu.edu/~illah/SAGE/ • Tour guides for Dinosaur Hall • Navigates using artificial landmarks • Avoids collisions • Sonar sensors • Infrared sensors • Tactile sensors • Goal: to be self-reliant

6. AAAI-2000 Challenge: Attend the conference • Initialization at front door • Get to registration desk without a map • Wait its turn and then register • Navigate to conference hall, on time • Take elevator • Schmooze • Volunteer for tasks • Give 2 minute presentation and answer questions

7. NASA Space Robots • Campout Architecturehttp://prl.jpl.nasa.gov/projects/ate/technology/campout.html • Claraty Architecturehttp://robotics.jpl.nasa.gov/tasks/claraty/overview/objectives/index.html • All-terrain explorerhttp://prl.jpl.nasa.gov/projects/ate/videos.html • Lemur http://prl.jpl.nasa.gov/projects/lemur1/lemur_index.html

8. Campout Architecture • CAMPOUT is a distributed control architecture based on a multi-agent or behavior-based methodology, • higher-level functionality is composed by coordination of more basic behaviors under the downward task decomposition of a multi-agent planner.

9. Campout Architecture

10. Campout Architecture • Behavior Coordination • Voting techniques. • Fuzzy command fusion mechanisms . • Multiple objective behavior fusion. • Multi-Agent Coordination • Through direct communication

11. Claraty Architecture • CLARAty is a domain-specific robotic architecture designed with four main objectives: • (i) to reduce the need to develop custom robotic infrastructure for every research effort, • (ii) to simplify the integration of new technologies onto existing systems, • (iii) to tightly couple declarative and procedural-based algorithms, and • (iv) to operate a number of heterogeneous rovers with different physical capabilities and hardware architectures. • Collaborative effort among: • California Institute of Technology's Jet Propulsion Laboratory, • Ames Research Center, • Carnegie Mellon University, • University of Minnesota.

12. UC Berkley: Bio-inspired Robots Fiddler crab Geckos

13. Robot Improv • http://www.cs.cmu.edu/afs/andrew/scs/ri/robotimprov/www/robotimprov.html • Each actor knows: • Its goals • Both actors’ locations • Internal emotional model • Other actor’s last action • Set of actions and sentences • Different actors with different internal emotional models • Each play starts with actors at neutral emotional states “Please don't leave me. Think of the children.” *Insulted (Runs To Door)* “It was your idea to have children in the first place. I wanted an Aibo.”

14. Leonardo quickly learns new skills and tasks from natural human instruction and few demos. Two forms of socially guided learning: Learning by Tutelage Learning by Imitation http://robotic.media.mit.edu/projects/Leonardo/Leo-tutelage.html MIT Sociable Robots: Kismet and Leonardo Kismet, a robotic creature that socially interacts with people using para-linguistic cues such as facial expressions, body posture, vocal prosody, and gaze direction. Building a socially responsive robotic creature that engages humans in natural and intuitive interactions has been a hard core engineering endeavor. The software runs on a network of 15 computers. http://web.media.mit.edu/~cynthiab/ CynthiaBreazeal