Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing...
Transcript of Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing...
![Page 1: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/1.jpg)
Design of Intelligent Robotics
René van de Molengraft
December, 6th, 2010
![Page 2: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/2.jpg)
Theme
/ faculteit werktuigbouwkunde PAGE 211-12-2009
• Health: Care and Cure
![Page 3: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/3.jpg)
Mission
/ faculteit werktuigbouwkunde PAGE 311-12-2009
• Help elderly people to stay in their homes• Improve quality of surgery for surgeon and patient
![Page 4: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/4.jpg)
Research challenges
/ faculteit werktuigbouwkunde PAGE 411-12-2009
Learning• Low-level:
3D-sensing, world modeling, grasping, locomotion• High-level:
cognition, planning, coordination of multiple robots
Approach• Mixed Model/Data-based• Use priors
![Page 5: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/5.jpg)
Robocup@Home
/ faculteit werktuigbouwkunde PAGE 511-12-2009
![Page 6: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/6.jpg)
RoboCup use cases
/ faculteit werktuigbouwkunde PAGE 611-12-2009
Midsize league soccer• Scenario: structured, but highly dynamic• Low-level: world modeling, skills• High-level: strategy, coordination
@Home league• Scenario: static, but highly unstructured• Low-level: 3D-sensing, object recognition, grasping• High-level: cognition, learning
![Page 7: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/7.jpg)
RoboEarth Project
• Four-year funding from European Commission (FP7)
• Starting date: December 1st, 2009
• Consortium consisting of:
PAGE 712-03-2010
![Page 8: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/8.jpg)
Motion Control
• Performance• 90% feedforward
• 10% feedback
PAGE 812-03-2010
• Humans in day2day tasks• 90% feedforward – learning and memorization
• 10% feedback – sensory feedback
![Page 9: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/9.jpg)
Industrial robots
PAGE 912-03-2010
• Structured environment• Same scene, same task• No humans
![Page 10: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/10.jpg)
Domestic and care robots
PAGE 1012-03-2010
• How to deal with a complex world?• Changing scenes• Many possible scenarios
![Page 11: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/11.jpg)
RoboEarth
• How to deal with a complex world?• Changing scenes
• Many possible scenarios
PAGE 1112-03-2010
• RoboEarth – learning and memorization
• Share any reusable knowledge between robots
• World-Wide-Web for and by robots
![Page 12: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/12.jpg)
RoboEarth
PAGE 1212-03-2010
![Page 13: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/13.jpg)
Safety and risks
PAGE 1312-03-2010
• Consistency of data in RoboEarth
• Who is allowed to sharing what?
• Use existing protocols (HTTPS)
• Protect “personal” data (compare Streetview)
• Certified users
• Log and analyse usage
• Liability in case of malfunction?
• Autonomous operation
• Who is responsible?
![Page 14: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/14.jpg)
/ faculteit werktuigbouwkunde
• “By the year 2050, develop a team of fully autonomous humanoid robots that can win against the human world soccer champion team”
• Joint development of technology in robotics and artificial intelligence
• Since 1997
Robocup
![Page 15: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/15.jpg)
/ faculteit werktuigbouwkunde
• Founded spring 2005
• 20 active members
• 2nd place World Cup 2008/2009/2010
Tech United
![Page 16: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/16.jpg)
/ faculteit werktuigbouwkunde
• fully autonomous
• vision and localisation
• fast and safe
• ball-handling (don’t clamp!)
• ball-kick
• team-play
Challenges
![Page 17: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/17.jpg)
/ faculteit werktuigbouwkunde
• design a team of autonomous soccer robots
• robot is of DH/CS type
• team is of DH/DS type
• soccer = strategy + skills
Design goal
![Page 18: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/18.jpg)
/ faculteit werktuigbouwkunde
• robustness
• performance
• time-to-next-tournament
• safety
• maintenance
•
• cost
Design criteria
![Page 19: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/19.jpg)
/ faculteit werktuigbouwkunde
• FIFA rules
• additional Robocup rules
• size, weight, color
Constraints
![Page 20: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/20.jpg)
/ faculteit werktuigbouwkunde
• manage complexity
• keep it simple
• hierarchy
• make choices explicit
• use models
• create robustness
• redundancy
Design rules of thumb
![Page 21: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/21.jpg)
/ faculteit werktuigbouwkunde
team
robot robot robot
Bottom-up design
![Page 22: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/22.jpg)
/ faculteit werktuigbouwkunde
• localisation
• soccer skills
• intercept, dribble, kick
• soccer roles
• attacker, defender, goalkeeper
• soccer tactics
• pass, assist, play system
Requirements
![Page 23: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/23.jpg)
/ faculteit werktuigbouwkunde
• low level (hardware) functions
• drive
• kick
• ball handling
• sense environment
• (high) level (sofware) functions
• localisation
• skills
• roles and strategy
Identify functions
![Page 24: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/24.jpg)
/ faculteit werktuigbouwkunde
HW
HW
HW
HW
HW/SW
HW/SW
HW/SW
HW/SW
SW SW
SW
SW
HW HW HW
HW/SW HW/SW HW/SW
SW SW
SW
SW
HW/SW
HW
System architecture
![Page 25: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/25.jpg)
/ faculteit werktuigbouwkunde
• which sensors?
• vision
• odometry
• accelerometers
• laser
• hardware or software?
• cpu power
• sensor fusion
Design space exploration
![Page 26: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/26.jpg)
/ faculteit werktuigbouwkunde
• vision
• number of cameras, type of camera, resolution, omnivision, mirror, construction, acquisition, feature extraction, modelfit, object tracking etc.
Localization
![Page 27: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/27.jpg)
/ faculteit werktuigbouwkunde
• Interdisciplinary
• mechanics
• electronics
• software
• Approach
• model-based design (simulation and prototyping )
• early integration
Specialists needed
![Page 28: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/28.jpg)
/ faculteit werktuigbouwkunde
![Page 29: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/29.jpg)
/ faculteit werktuigbouwkunde
![Page 30: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/30.jpg)
/ faculteit werktuigbouwkunde
• hardware
• omnivision camera+mirror
• electronic compass
• odometry with motor encoders
• software
• white-line detection
• orientation calibration
• sensor fusion
Our localization design
![Page 31: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/31.jpg)
/ faculteit werktuigbouwkunde
White-line detection
![Page 32: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/32.jpg)
Evolution and revolution
/ faculteit werktuigbouwkunde PAGE 3211-12-2009
Devbot0 2005
Model 2006
Model 2007
Model 2008
Model 2009
![Page 33: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/33.jpg)
/ faculteit werktuigbouwkunde
![Page 34: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/34.jpg)
/ faculteit werktuigbouwkunde
![Page 35: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/35.jpg)
/ faculteit werktuigbouwkunde
![Page 36: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/36.jpg)
/ faculteit werktuigbouwkunde
![Page 37: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/37.jpg)
/ faculteit werktuigbouwkunde
?
How to design a system of systems?
![Page 38: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/38.jpg)
/ faculteit werktuigbouwkunde
• 5 agents: distributed system
• agents must be self-reliant
• minimise interaction/sync
• maximise cooperation
• aggressive environment
System of systems
![Page 39: Design of Intelligent Robotics · RoboEarth •How to deal with a complex world? • Changing scenes • Many possible scenarios 12-03-2010 PAGE 11 •RoboEarth – learning and memorization](https://reader034.fdocuments.us/reader034/viewer/2022051902/5ff0fe2bccbc3535f2487955/html5/thumbnails/39.jpg)
/ faculteit werktuigbouwkunde
• April 2011, German Open, Magdeburg
• July 2011, World Cup, Istanbul
• Dedicated goal keeper
• Robustified ball handling
• Passing during gameplay
Towards Istanbul, 2011