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Motivation
Automated blinds
Thermostats and heating ducts
Automatic doors
Automatic room partitioning
House cleaning
Lawn mowing
Assistance to the elderly and handicapped
Office assistants
Security services
Robots
Mechanical Automata
1967: Shakey
Maillardets Automaton
Unimate
Robots
Robot Manipulators
Mobile Robots
Robots
Walking Robots
Humanoid Robots
Autonomous Robots
Path planning
Integration of sensors
Closed-loop control
Traditional Industrial
Robots
Problems
No incorporation of uncertainty
Autonomy
Adaptation
Service Robots
Security guard
Delivery
Cleaning
Mowing
Assistance Robots
Mobility
Services for elderly and
People with disabilities
Kinematics, Dynamics
Closed-loop control
Control architectures
(x, y, z)
(x, y, )
x
vx
y v y t
R
(x, y, )
Actuator Control
Robot Navigation
Sensor-Driven Robot
Control
Robot Sensors
Robot Sensors
Robot Sensors
Uncertainty in Robot
Systems
Sensor uncertainty
Sensor readings are imprecise and unreliable
Non-observability
Various aspects of the environment can not be
observed
Action uncertainty
Actions can fail
Probabilistic Robot
Localization
Used for:
Localization
Mapping
Model building
Deliberative
Robot Control
In a deliberative control architecture the
Architectures
robot first plans a solution for the task by
reasoning about the outcome of its
actions and then executes it
Deliberative
Control Architectures
Advantages
Problems
Behavior-Based
Robot Control
In a behavior-based control architecture
Architectures
the robots actions are determined by a
set of parallel, reactive behaviors which
map sensory input and state to actions.
Behavior-Based
Robot Control
Reactive,
behavior-based
control
Architectures
combines relatively simple behaviors,
each of which achieves a particular
subtask, to achieve the overall task.
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Explore
Behavior-Based
Architectures:
Subsumption architecture
is one of the
Subsumption
Example
earliest behavior-based architectures
Subsumption Example
MIT AI Lab
http://www-robotics.usc.edu/~maja/robot-video.mpg
Reactive, Behavior-Based
Control Architectures
Advantages
Problems
Hybrid Control
Architectures
Hybrid architectures
combine reactive control
with abstract task
planning
Deliberative decisions
Behavioral
Strategy:
Example Task:
Changing a Light Bulb
Hybrid Control
Architectures
Advantages
Problems
Traditional Human-Robot
Interface: Teleoperation
Remote Teleoperation:
Direct operation of the
robot by the user
Simple to install
Removes user from dangerous
areas
Problems:
Human-Robot Interaction
in Intelligent Environments
Voice recognition
Human-Robot Interfaces
Existing technologies
Research challenges
Integration of Commands
and Autonomous Operation
Adjustable Autonomy
Autonomous operation
User operation /
teleoperation
Behavioral programming
Following user instructions
Imitation
Continuous, low-level
instructions (teleoperation)
Example System
"Attentional" Robots
"Emotional" Robots
MIT AI Lab
http://www.ai.mit.edu/projects/cog/Video/kismet/kismet_face_30fps.mpg
Advantages:
Problems:
Human-Robot Interfaces
for Intelligent
Robot
Interfaces have to be easy to use
Environments
Robots have to be controllable by untrained users
Learning by exploration
Neural networks
Decision trees
Chair
Example: Reinforcement
Learning in a Hybrid
Architecture
Reactive Behavior
Layer
Example Task:
Learning to Walk
Conclusions
Automate devices
Provide physical services