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Sojourner 1996

Why Study Robots now?. MIT Kismet. Honda Asimo 2003. Sojourner 1996. NavLab (CMU). Moore’s Law - Computers and Brains. AI. Figure from ROBOT, Moravec, Oxford, 1998, Chapter 3: Power and Presence, page 68. Why learn to program with Robots ?.

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Sojourner 1996

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  1. Why Study Robots now? MIT Kismet Honda Asimo 2003 Sojourner 1996 NavLab (CMU) Comp 3104 2009

  2. Moore’s Law - Computers and Brains AI Comp 3104 2009 Figure from ROBOT, Moravec, Oxford, 1998, Chapter 3: Power and Presence, page 68

  3. Why learn to program with Robots ? • Robots are becoming commercially viable – need developers • Serious promise of Artificial Intelligence – needs researchers • Fundamental aspects : • Good vehicle for teaching programming … • Important analogy of each living being … the Self • Important analogy of societies … Communication N.B. we are thinking of Autonomous Robots Comp 3104 2009

  4. Comp 3104 2009

  5. Human Robot Human Group Robot Group Comp 3104 2009

  6. Human Qualities Affective Cognitive Psychomotoric Thinking Acting Feelings Knowing Behaving Emotions Comp 3104 2009

  7. Behaviour Modules Collision Idea is to split overal desired behaviour into a number of “modules” of program code which can run independently. These may be arranged to have priorities SearchLight Wander Comp 3104 2009

  8. Rod Brookes + Cogs Comp 3104 2009

  9. Collide s Searchlight s Wander s Motors Combining Behaviours Subsumption (Brookes) bumper eyes Behaviour Modules Combine by subsumption Comp 3104 2009

  10. Behaviour 3 s Behaviour 2 s Behaviour 1 s DARPA ALV (Autonomous Land Vehicle) Internalized Plans Motors sensors There IS a global map ! Comp 3104 2009

  11. Braitenberg (1984), Vehicles: Experiments in Synthetic Psychology, MIT Press. Comp 3104 2009

  12. Wander Collide CPU SearchLight Braitenberg Vehicles lamp Braitenberg LM RM Choice of Behaviour Comp 3104 2009

  13. Java Behaviour Routines public void wander() { forever { wander_flag = true; wanderOpL = 10; wanderOpR = 10; muMonDefer(); } } lamp Braitenberg eyeLF LM public void searchlight() { forever { if(eyeLF > eyeRF) { searchlight_flag = true; searchlightOpR = ??; searchlightOpL = ??; muMonSleep(100); searchlight_flag = false; } if(eyeLF > 0) { eyeRF RM Behaviour Routines Comp 3104 2009

  14. Two motors Two Dimensions If the connections are not crossed, then it turns away from excitation – coward Ipsilateral excitation Comp 3104 2009

  15. Uncrossed inhibitory connections (note the –sign) give ipsilateral inhibition: Turns towards the light and slows down as it gets close Comp 3104 2009

  16. Brood Sorting The Emergence of Intelligence robot puck Martijn Schut http://www.cs.vu.nl/~zos Comp 3104 2009

  17. How to do the programming ? • Imagine doing the clearing up yourself ! Problem is to get one (or more) autonomous robots to clear the junk into heaps … • Program the Robots explicitly to • find an object • take an object • go back to cluster • find a cluster • drop an object Comp 3104 2009

  18. Alternative Program the robots to avoid things Comp 3104 2009

  19. Conclusions : • Behaviour Emerges ! • Intelligence in the Indivudal or Group ? Comp 3104 2009

  20. Messor Sancta ants • 1,500 corpses • 26 hours • Put dead ants into graveyards by walking around bumping into them Comp 3104 2009

  21. Football as benchmark for AI advances • Worldwide competitions since 1997 • Current Leagues SmallSize Simulation MidSize Sony Dog Humanoide Comp 3104 2009

  22. Comp 3104 2009

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