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CMU 15494 Cognitive Robotics - Lecture

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15-494: Cognitive RoboticsProfessor: TA: David S. Touretzky Ian Lenz Wean Hall 8128 x8-7561 [email protected] [email protected] 201001/12/10 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.01/12/10 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 transparent01/12/10 15-494 Cognitive Robotics4What if robots were smarter?●Suppose robot could already seea bit, and navigate a bit, and manipulate objects a bit.●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.01/12/10 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 Ethernet01/12/10 15-494 Cognitive Robotics6The Chiara Debuts at AAAI-08●Pico-ITX processor: 1 GHz, 1 GB, 80GB HD Ubuntu Linux●27 degrees of freedom:–24 digital servos–3 analog microservos–6-dof arm with gripper●Logitech webcam,Robotis IR rangefinder●Ethernet and WiFi●Open source, GPLed design01/12/10 15-494 Cognitive Robotics7Gamma Series Chiara (2009)See demo videos at Chiara-Robot.orgor directly atyoutube.com/TekkotsuRobotics● 21 built● 6 are in your lab● Fixed gripper (c-bracket)01/12/10 15-494 Cognitive Robotics8Demo Videos01/12/10 15-494 Cognitive Robotics9Delta Series Mockup01/12/10 15-494 Cognitive Robotics10Tekkotsu Planar Hand-Eye System●3-dof planar arm●Logitech webcam on a pan/tilt mount●Connects to a PC via USB●Many variations possible:Zhengheng Gho's gripperJonathan Coens'8-dof “tentacle”01/12/10 15-494 Cognitive Robotics11Tekkotsu 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, multiple inheritance, and polymorphismLinuxorMac OS Tekkotsu.org01/12/10 15-494 Cognitive Robotics12Primitives 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?01/12/10 15-494 Cognitive Robotics13Primitives needed for tic-tac-toe●See andunderstandthe board(perception,mapping)●Move thegame pieces(manipulation)●Take turns(control)01/12/10 15-494 Cognitive Robotics14Visual Routines01/12/10 15-494 Cognitive Robotics15Visual Routines01/12/10 15-494 Cognitive Robotics16SketchGUI: see inside the robot's head01/12/10 15-494 Cognitive Robotics17Transparency: Storyboard tool01/12/10 15-494 Cognitive Robotics18Human-Robot InteractionA duet from Verdi's La Traviata(LookingGlass project by Kirtane & Libby)01/12/10 15-494 Cognitive Robotics19Ideas 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”01/12/10 15-494 Cognitive Robotics20Robot LearningImplementing learning algs. on the robot:–TD learning for classical conditioning–Two-armed bandit learning problemVideo demos from TekkotsuRobotics channel on YouTube01/12/10 15-494 Cognitive Robotics21New Features●Chiara and hand-eye system support●Much better Create support●New kinematics engine●Mirage simulator●SIFT object recognition tool–Based on Xinghao Pan's senior thesis project01/12/10 15-494 Cognitive Robotics22ARTSI AllianceSee ARTSIAlliance.org01/12/10 15-494 Cognitive Robotics23Course 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 presentation01/12/10 15-494 Cognitive Robotics24Syllabus and Lecture Schedule●The syllabus/lecture schedule is linked from the course home page: www.cs.cmu.edu/afs/cs/academic/class/15494-s10●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.01/12/10 15-494 Cognitive Robotics25Teamwork●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.01/12/10 15-494 Cognitive Robotics26Final Projects●Proposal stage:–Pick something cool (we'll give suggestions); convince us that you can carry it off.–Previous years' projects are on the web.●Development stage:–We'll have project clinics to help you work on your projects.●Presentation stage:–Develop a presentation and demo.–Public demonstrations on last day of


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