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

Transcription

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

2 Theme Health: Care and Cure PAGE 2

3 Mission Help elderly people to stay in their homes Improve quality of surgery for surgeon and patient PAGE 3

4 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 PAGE 4

5 PAGE 5

6 RoboCup use cases Midsize league soccer Scenario: structured, but highly dynamic Low-level: world modeling, skills High-level: strategy, league Scenario: static, but highly unstructured Low-level: 3D-sensing, object recognition, grasping High-level: cognition, learning PAGE 6

7 RoboEarth Project Four-year funding from European Commission (FP7) Starting date: December 1st, 2009 Consortium consisting of: PAGE 7

8 Motion Control Performance 90% feedforward 10% feedback Humans in day2day tasks 90% feedforward learning and memorization 10% feedback sensory feedback PAGE 8

9 Industrial robots Structured environment Same scene, same task No humans PAGE 9

10 Domestic and care robots How to deal with a complex world? Changing scenes Many possible scenarios PAGE 10

11 RoboEarth How to deal with a complex world? Changing scenes Many possible scenarios RoboEarth learning and memorization Share any reusable knowledge between robots World-Wide-Web for and by robots PAGE 11

12 RoboEarth PAGE 12

13 Safety and risks 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 13

14 Robocup 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

15 Tech United Founded spring active members 2nd place World Cup 2008/2009/2010

16 Challenges fully autonomous vision and localisation fast and safe ball-handling (don t clamp!) ball-kick team-play

17 Design goal design a team of autonomous soccer robots robot is of DH/CS type team is of DH/DS type soccer = strategy + skills

18 Design criteria robustness performance time-to-next-tournament safety maintenance cost

19 Constraints FIFA rules additional Robocup rules size, weight, color

20 Design rules of thumb manage complexity keep it simple hierarchy make choices explicit use models create robustness redundancy

21 Bottom-up design team robot robot robot

22 Requirements localisation soccer skills intercept, dribble, kick soccer roles attacker, defender, goalkeeper soccer tactics pass, assist, play system

23 Identify functions low level (hardware) functions drive kick ball handling sense environment (high) level (sofware) functions localisation skills roles and strategy

24 System architecture SW SW SW SW HW/SW HW/S HW/SW HW/S HW/SW HW/S HW/SW HW/S W W W W HW H HW H W W HW H W HW H W

25 Design space exploration which sensors? vision odometry accelerometers laser hardware or software? cpu power sensor fusion

26 Localization vision number of cameras, type of camera, resolution, omnivision, mirror, construction, acquisition, feature extraction, modelfit, object tracking etc.

27 Specialists needed Interdisciplinary mechanics electronics software Approach model-based design (simulation and prototyping ) early integration

28

29

30 Our localization design hardware omnivision camera+mirror electronic compass odometry with motor encoders software white-line detection orientation calibration sensor fusion

31 White-line detection

32 Evolution and revolution Devbot Model 2006 Model 2007 Model 2008 Model PAGE 32

33

34

35

36

37 How to design a system of systems??

38 System of systems 5 agents: distributed system agents must be self-reliant minimise interaction/sync maximise cooperation aggressive environment

39 Towards Istanbul, 2011 April 2011, German Open, Magdeburg July 2011, World Cup, Istanbul Dedicated goal keeper Robustified ball handling Passing during gameplay