CMRoboBits: Creating an Intelligent AIBO Robot Instructors: Prof. Manuela Veloso & Scott Lenser TAs:...
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Transcript of CMRoboBits: Creating an Intelligent AIBO Robot Instructors: Prof. Manuela Veloso & Scott Lenser TAs:...
![Page 1: CMRoboBits: Creating an Intelligent AIBO Robot Instructors: Prof. Manuela Veloso & Scott Lenser TAs: Douglas Vail & Nick Aiwazian Further Support: Dr.](https://reader035.fdocuments.us/reader035/viewer/2022062515/56649cd85503460f949a1a78/html5/thumbnails/1.jpg)
CMRoboBits: CMRoboBits: Creating an Intelligent AIBO RobotCreating an Intelligent AIBO Robot
Instructors: Prof. Manuela Veloso & Scott Lenser
TAs: Douglas Vail & Nick Aiwazian
Further Support: Dr. Paul Rybski, Sonia Chernova
15-491, Fall 2003
http://www.andrew.cmu.edu/course/15-491
Computer Science Department
Carnegie Mellon
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Why This New Course?Why This New Course?
Our robot soccer experience – Long: since 1996– Diversified: simulation, small-size, Sony 4-legged– Hard work, frustration, fun, struggle, success– A LOT learned on:
Creating teams of complete intelligent robots.
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Legged Robots Legged Robots Remarkable hardware - SONY AIBO
robots
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Intelligent Complete RobotIntelligent Complete Robot
Action
Actuators
Perception
External World External World
Sensors
Cognition
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Autonomy Autonomy
Perception– sensing, modeling of the world
Cognition– behaviors, action selection, planning, learning– multi-robot coordination, teamwork– response to opponent, multi-agent learning
Action– motion, navigation, obstacle avoidance
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Perception: VisionPerception: VisionReal-time and robust Effective calibrationColored blobs
identified as objectsConfidence computed
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Cognition: BehaviorsCognition: Behaviors
Score Search
Approach
Recovernot see ball
next to ball
not see ball not see ball
timeout
see ballnot next to ball
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Action: MotionAction: Motion
Four-legged walkingHead motionTurning, kicking
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What is This New Course?What is This New Course?
Beyond robot soccerCMRoboBits:
– From CMPack, break into modular robot “bits”– Learn the CMRoboBits within a concrete robot
AIBO– Commercially available to the public since June’02– Robust hardware, modular software
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The SyllabusThe Syllabus
SensorsBasic behaviorsMotionVisionLocalizationComplex behaviorsMulti-robot behaviors
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The EvaluationThe Evaluation
Weekly homeworks– hands-on lab work with the AIBO robots– some also include written questions
One final project Homeworks: 75% Final project: 25% Groups of 2 or 3 students: each student in the group
must be fully responsible for each homework
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Resources and ReadingsResources and Readings Readings and videos are available at: http://www.cs.cmu.edu
/~coral
AIBOs are being used widely in RoboCup: http://www.robocup.org
The OpenR Web page has a lot of information: http://openr.aibo.com
Tekkotsu is a serious effort to build an API for the AIBOs: http://www.cs.cmu.edu/~tekkotsu