15-494: Cognitive RoboticsProfessor: David S. Touretzky Wean Hall 8128 x8-7561 [email protected] 200801/13/08 15-494 Cognitive Robotics2Why is robot programming hard?●It's done at too low a level:–Joint angles and motor torques instead of gestures and manipulation strategies–Pixels instead of objects●It's like coding in assembly language, when what you really want is Java or Scheme or ALICE or Mathematica.●Robots are stupid.01/13/08 15-494 Cognitive Robotics3What Is this course about?A new approach to programming robots:●Borrowing ideas from cognitive science to make robots smarter●Creating tools to make robot behavior intuitive and transparent01/13/08 15-494 Cognitive Robotics4What if robots were smarter?●Suppose robot could already seea bit, and navigate a bit, and manipulate objects.●What could you do with such a robot?We're going to find out!●What primitives would allow you to easily program it to accomplish interesting tasks?Help us refine our design.01/13/08 15-494 Cognitive Robotics5The AIBO ERS-7●576 MHz RISC processor●64 MB of RAM●Programmed in C++●Color camera: 208x160●18 degrees of freedom:–Four legs (3 degs. Each)–Head (3), tail (2), mouth●Wireless Ethernet01/13/08 15-494 Cognitive Robotics6Other Platforms: Qwerk●Qwerkbot+ developed by Illah Nourbakhsh at CMU.●Uses Qwerk controller board from Charmed Labs. ●Extensible! Add your own servos and sensors.01/13/08 15-494 Cognitive Robotics7“Regis” Debuts at AAAI-07●Modified Lynx Motion 4WD3 base, SES arms●“Goose neck” webcam●Crab arm w/gripper●600 MHz Gumstix processor01/13/08 15-494 Cognitive Robotics8In Development: A HexapodMicroMagic Systems hexapod robots developed by Matt Denton.01/13/08 15-494 Cognitive Robotics9Tekkotsu Means “Framework” in Japanese(Literally “iron bones”)APERIOSOPEN-RTekkotsuYour CodeTekkotsu features:● Open source, LGPLed● Event-based architecture● Powerful GUI interface● Documented with doxygen● Extensive use of C++ templates, inheritance, and operator overloadingLinuxorMac OS Tekkotsu.org01/13/08 15-494 Cognitive Robotics10Primitives for Cognitive Robotics●Perception: see shapes, objects●Mapping: where are those objects?●Localization: where am I?●Navigation: go there●Manipulation: put that there●Control: what should I do now?●Learning: how can I do better?●Human-robot interaction: can we talk?01/13/08 15-494 Cognitive Robotics11Primitives needed for tic-tac-toe●See andunderstandthe board(perception,mapping)●Move thegame pieces(manipulation)●Take turns(control)01/13/08 15-494 Cognitive Robotics12Visual Routines01/13/08 15-494 Cognitive Robotics13Visual Routines01/13/08 15-494 Cognitive Robotics14SketchGUI: see inside the robot's head01/13/08 15-494 Cognitive Robotics15Transparency: Storyboard tool01/13/08 15-494 Cognitive Robotics16Human-Robot InteractionA duet from Verdi's La Traviata(LookingGlass project by Kirtane & Libby)01/13/08 15-494 Cognitive Robotics17Ideas from Cognitive Science?●Visual routines, dual coding theory, gestalt perception, affordances, ...●Active research area. You can help!Affordances:“I see something I can push”Camera view:“I see a pink blob”01/13/08 15-494 Cognitive Robotics18Robot LearningImplementing learning algs. on the robot:–TD learning for classical conditioning–Two-armed bandit learning problemVideo demos from Tekkotsuweb site(Videos and Screen Shots section)01/13/08 15-494 Cognitive Robotics19New Features This Year●Qwerk and Regis support●Telepathy (inter-robot communication)●Manipulation primitives for an arm–Zhengheng Go's senior thesis work●SIFT object recognition–Xinghao Pan's senior thesis work●New state machine parser–Dave Touretzky's Christmas break project01/13/08 15-494 Cognitive Robotics20ARTSI Alliance01/13/08 15-494 Cognitive Robotics21Course Administrative Stuff●Times/Locations:–Mon / Wed 3:30 to 4:20 in Wean Hall 5320–Fri 3:00 to 4:20 in NSH 3206 (REL) REL = Robotics Education Lab●Grading:–25% homeworks and labs–25% midterm exam–25% final exam–25% course project and presentation01/13/08 15-494 Cognitive Robotics22Syllabus and Lecture Schedule●The syllabus/lecture schedule is linked from the course home page: www.cs.cmu.edu/afs/cs/academic/class/15494-s08●Check weekly for updates, links to readings, links to homeworks/labs.●Some readings should be done before the lecture, some afterwards. Follow the order in the schedule.●For Friday's lab: review the syllabus and check out Tekkotsu.org.01/13/08 15-494 Cognitive Robotics23Teamwork●You are permitted, but not required, to work in teams.●A team may have at most 3 members.●When handing in an assignment, only one copy need be handed in per team. Everyone's name should be on it.01/13/08 15-494 Cognitive Robotics24Final Projects●Proposal stage:–Pick something cool (we'll give suggestions); convince us that you can carry it off.●Development stage:–We'll have project clinics to help you work on your projects.●Presentation stage:–Develop a presentation and demo.–Public demonstrations on May 2,