Design of Intelligent Robotics René van de Molengraft December, 6th, 2010
Theme Health: Care and Cure 11-12-2009 PAGE 2
Mission Help elderly people to stay in their homes Improve quality of surgery for surgeon and patient 11-12-2009 PAGE 3
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 11-12-2009 PAGE 4
Robocup@Home 11-12-2009 PAGE 5
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 11-12-2009 PAGE 6
RoboEarth Project Four-year funding from European Commission (FP7) Starting date: December 1st, 2009 Consortium consisting of: 12-03-2010 PAGE 7
Motion Control Performance 90% feedforward 10% feedback Humans in day2day tasks 90% feedforward learning and memorization 10% feedback sensory feedback 12-03-2010 PAGE 8
Industrial robots Structured environment Same scene, same task No humans 12-03-2010 PAGE 9
Domestic and care robots How to deal with a complex world? Changing scenes Many possible scenarios 12-03-2010 PAGE 10
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 12-03-2010 PAGE 11
RoboEarth 12-03-2010 PAGE 12
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? 12-03-2010 PAGE 13
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
Tech United Founded spring 2005 20 active members 2nd place World Cup 2008/2009/2010
Challenges fully autonomous vision and localisation fast and safe ball-handling (don t clamp!) ball-kick team-play
Design goal design a team of autonomous soccer robots robot is of DH/CS type team is of DH/DS type soccer = strategy + skills
Design criteria robustness performance time-to-next-tournament safety maintenance cost
Constraints FIFA rules additional Robocup rules size, weight, color
Design rules of thumb manage complexity keep it simple hierarchy make choices explicit use models create robustness redundancy
Bottom-up design team robot robot robot
Requirements localisation soccer skills intercept, dribble, kick soccer roles attacker, defender, goalkeeper soccer tactics pass, assist, play system
Identify functions low level (hardware) functions drive kick ball handling sense environment (high) level (sofware) functions localisation skills roles and strategy
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
Design space exploration which sensors? vision odometry accelerometers laser hardware or software? cpu power sensor fusion
Localization vision number of cameras, type of camera, resolution, omnivision, mirror, construction, acquisition, feature extraction, modelfit, object tracking etc.
Specialists needed Interdisciplinary mechanics electronics software Approach model-based design (simulation and prototyping ) early integration
Our localization design hardware omnivision camera+mirror electronic compass odometry with motor encoders software white-line detection orientation calibration sensor fusion
White-line detection
Evolution and revolution Devbot0 2005 Model 2006 Model 2007 Model 2008 Model 2009 11-12-2009 PAGE 32
How to design a system of systems??
System of systems 5 agents: distributed system agents must be self-reliant minimise interaction/sync maximise cooperation aggressive environment
Towards Istanbul, 2011 April 2011, German Open, Magdeburg July 2011, World Cup, Istanbul Dedicated goal keeper Robustified ball handling Passing during gameplay