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AI in Robotics

AI in Robotics. April 23, 2008 Michael Buynak. Layout. Introduction to robotics Ethics Historical (lots of videos) Past Present Future. About robotics. 'Robot' – introduced by Karl Capek in R.U.R. (1921) We’d call them androids means ‘forced labor’ Robots conquer the world

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AI in Robotics

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  1. AI in Robotics April 23, 2008 Michael Buynak

  2. Layout • Introduction to robotics • Ethics • Historical (lots of videos) • Past • Present • Future

  3. About robotics • 'Robot' – introduced by Karl Capek in R.U.R. (1921) • We’d call them androids • means ‘forced labor’ • Robots conquer the world • Electromechanical system that seems like it knows what it’s doing • Assembly lines • Sweeping floors • Driving • Needs to have some sort of intelligence

  4. Purpose? • Increase the quality of life • Perform tasks that are to • Dangerous • Repetitive • Precise • Hard to reach • Boring • My philosophy • If it’s too much work for you, make a computer do it.

  5. Ethics • Humans rely on machines • Could they take over? • The Matrix • Isaac Asimov & Bill Joy • Hesitant about really smart robots • Three Laws + 1 • 0) A robot may not harm humanity, or, by inaction, allow humanity to come to harm. • 1) A robot may not injure a human being or, through inaction, allow a human being to come to harm. • 2) A robot must obey orders given to it by human beings, except where such orders would conflict with the First Law. • 3) A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. • Why the future doesn’t need us

  6. Old robot arm • Unimate • Robotic arm • 2 tons • 3 DOF • Assembly Line • Hard coded http://youtube.com/watch?v=0A9kks2Ascc

  7. Progression • Denso • 6 DOF • Still hardcoded though http://youtube.com/watch?v=lyDA7LcSvZc

  8. Roomba • Somewhat intelligent • Follow walls • Avoid obstacles • Including stairs and IR beams • Finds it’s way back to the charging station • No real model of the world at large http://youtube.com/watch?v=HqhIMFQNGCg

  9. Markov Processes • Markov Property • You can predict the future and know the past from only the current • Sensor data is infallible • Fully Observable • Markov Decision Processes (MDP) • Data is deterministic • Sensor data has inherent flaws • Partially Observable • POMDP • Data is stochastic

  10. Error • Deterministic • Error may accrue geometrically • Probabilistic model

  11. Bayes Filter • Take data • Move around • Take more data • Make a model • Use it and update it

  12. DARPA Grand Challenge • Traverse 150 miles of the Mojave Desert • $1 million to the winner • 2004 • Best distance was 7 miles • 2005 • Completed in 6:54 by Stanford University • Carnegie Mellon at 7:05 and 7:14 http://youtube.com/watch?v=LZ3bbHTsOL4

  13. DARPA Urban Challenge • Navigate an urban arena • Obey all traffic laws • Merge with other traffic • 6 hours to complete 60 mile course • 36 semi-finalists • 6 teams finished • 4 teams finished under 6 hours • Carnegie Mellon won at 4:10:20 • Stanford at 4:29:28

  14. Walking robots • Boston Dynamics • Big Dog • Cool legs • Smart stability, walking • http://youtube.com/watch?v=W1czBcnX1Ww

  15. Star Wars • Deka’s ‘Luke’ arm • Deka lead by Dean Kamen • Intelligent user interface • Most advanced robot arm ever? http://youtube.com/watch?v=R0_mLumx-6Y

  16. Where it’s going • Interaction with humans • In your home • At work • Could become revolting beforeit’s usable • ‘Uncanny Valley’

  17. SMU Robotics • Autonomous Underwater Vehicle (AUV) • Competition in August in San Diego • 11th place last year • Best new entry • We beat MIT, UTD, CU Boulder, Duke... • If you’re interested, we’ve got cool toys

  18. Fun Stuff • How to survive a robot uprising • http://youtube.com/watch?v=IcA8STwMHn8 • Microsoft Robotics Studio • http://msdn2.microsoft.com/en-us/robotics/default.aspx • SMU robotics • http://groups.google.com/group/smu_robot/web/usv-home-page

  19. Questions or Comments?

  20. References • http://en.wikipedia.org/wiki/R.U.R._(Rossum's_Universal_Robots) • http://en.wikipedia.org/wiki/Robot • http://science.howstuffworks.com/robot2.htm • http://en.wikipedia.org/wiki/DARPA_Grand_Challenge • http://en.wikipedia.org/wiki/Bill_Joy • http://en.wikipedia.org/wiki/Raymond_Kurzweil • Why the future doesn’t need us • http://www.wired.com/wired/archive/8.04/joy_pr.html • http://www.robotics.utexas.edu/rrg/learn_more/history/ • Unimate • http://youtube.com/watch?v=0A9kks2Ascc • Carnegie Mellon Peg Bowling • http://youtube.com/watch?v=lyDA7LcSvZc • Roomba • http://youtube.com/watch?v=HqhIMFQNGCg • Swarm robotics • http://youtube.com/watch?v=rYIkgG1nX4E • DARPA Grand Challenge winning moment • http://youtube.com/watch?v=LZ3bbHTsOL4 • Boston Dynamics ‘Big Dog’ • http://youtube.com/watch?v=W1czBcnX1Ww • Dean Kamen’s Luke Arm • http://youtube.com/watch?v=R0_mLumx-6Y • http://en.wikipedia.org/wiki/Uncanny_Valley

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