Design of Intelligent Robotics. René van de Molengraft December, 6th, 2010

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Design of Intelligent

Robotics

René van de Molengraft December, 6th_{, 2010}

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Theme

/ faculteit werktuigbouwkunde 11-12-2009 PAGE 2

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Mission

• Help elderly people to stay in their homes

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Research challenges

Learning

• Low-level:

3D-sensing, world modeling, grasping, locomotion • High-level:

cognition, planning, coordination of multiple robots

Approach

• Mixed Model/Data-based • Use priors

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Robocup@Home

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RoboCup use cases

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

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RoboEarth Project

• Four-year funding from European Commission (FP7)

• Starting date: December 1st_{, 2009}

• Consortium consisting of:

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Motion Control

• Performance • 90% feedforward • 10% feedback PAGE 8 12-03-2010

• Humans in day2day tasks

• 90% feedforward – learning and memorization

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Industrial robots

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• Structured environment

• Same scene, same task

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Domestic and care robots

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• How to deal with a complex world?

• Changing scenes

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RoboEarth

• How to deal with a complex world?

• Changing scenes

• Many possible scenarios

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• RoboEarth – learning and memorization

• Share any reusable knowledge between robots

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RoboEarth

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Safety and risks

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• 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?

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/ 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

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• Founded spring 2005 • 20 active members

• 2nd_{place World Cup 2008/2009/2010}

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• fully autonomous

• vision and localisation • fast and safe

• ball-handling (don’t clamp!) • ball-kick

• team-play

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• design a team of

autonomous soccer robots

• robot is of DH/CS type • team is of DH/DS type • soccer = strategy + skills

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/ faculteit werktuigbouwkunde • robustness • performance • time-to-next-tournament • safety • maintenance • • cost

Design criteria

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• FIFA rules

• additional Robocup rules • size, weight, color

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• manage complexity • keep it simple • hierarchy

• make choices explicit • use models

• create robustness • redundancy

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team

robot robot robot

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• localisation • soccer skills

• intercept, dribble, kick • soccer roles

• attacker, defender, goalkeeper • soccer tactics

• pass, assist, play system

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• low level (hardware) functions • drive

• kick

• ball handling

• sense environment

• (high) level (sofware) functions • localisation

• skills

• roles and strategy

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/ faculteit werktuigbouwkunde H W H W H W HW HW/S W HW/S W HW/S W HW/S W SW SW SW SW HW HW HW HW/SW HW/SW HW/SW SW SW SW SW HW/SW HW

System architecture

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/ faculteit werktuigbouwkunde • which sensors? • vision • odometry • accelerometers • laser • hardware or software? • cpu power • sensor fusion

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• vision

• number of cameras, type of camera, resolution,

omnivision, mirror,

construction, acquisition,

feature extraction, modelfit, object tracking etc.

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/ faculteit werktuigbouwkunde • Interdisciplinary • mechanics • electronics • software • Approach • model-based design

(simulation and prototyping ) • early integration

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• hardware

• omnivision camera+mirror • electronic compass

• odometry with motor encoders • software

• white-line detection • orientation calibration • sensor fusion

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Evolution and revolution

Devbot0 2005 Model 2006 Model 2007 Model 2008 Model 2009

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?

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• 5 agents: distributed system • agents must be self-reliant

• minimise interaction/sync • maximise cooperation

• aggressive environment

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• April 2011, German Open, Magdeburg • July 2011, World Cup, Istanbul

• Dedicated goal keeper

• Robustified ball handling • Passing during gameplay