Robots in Action

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Robots in Action
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Announcements

• Feedback response
• Late policy (Some credit, helps grading)
• Structure of course project (Tyranny of the
  majority, grading)
• PowerPoint vs. chalk talk doing the reading
• Homework assigned today
• Course project descriptions

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Asimovs Three Laws

• A robot may not injure a human being, or, through
  inaction, allow a human being to come to harm.
• A robot must obey the orders given it by human
  beings except where such orders would conflict
  with the First Law.
• A robot must protect its own existence as long as
  such protection does not conflict with the First
  or Second Law.

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Whats a Robot?

• Mobile?
• Autonomous
• Softbots

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Snips and Snails and Puppy Dog Tails, thats what
robots are made of

• Effectors
• Actuators
• Degrees of freedom
• Sensors
• Proprioception (Looking at your own hand)

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Motion for Robots

• Degrees of freedom

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Different Sensor, Different Task

• SONAR
• Obstacle avoidance
• Lasers
• Range-finding
• Vision
• Obstacle avoidance
• Proprioception

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Robot Architecture

• Designing a robot
• Common features of many different robots
• Classical
• Nouvelle AI (Situated automata)

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Classical (aka SHAKEY)

• Theorem provers proved too general
• No execution monitoring
• Version 2
• Specialized programs (LLAs, ILAs)
• Modeling uncertainty
• Learning with macro operators
• PLANEX

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SHAKEY

• Conclusions
• Limited ability to handle unexpected outcomes
• Each move took 1 hour of computing time
• High probability of failure
• STRIPS produced good plans
• Sensory interpretation primitive

From http//hebb.cis.uoguelph.ca/deb/Robotics/Not
es/traditional/page5.html
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Situated Automata

• Is classical robotics too difficult?
• Toss out the representation
• Embedded agents
• Model the world as interacting automata
• Physical environment Agent
• Local state of one f(Signals from other)
• Flakey

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Elephants Dont Play Chess

• What does this mean?

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(Physical) Symbol Systems

• Biologically implausible
• Frame problem
• Planning is hard
• NP-complete
• Heuristics

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Physical Grounding

• Whats the hypothesis?
• Evolution
• What is Brooks argument?

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Brooks Robots

• Allen
• Tom Jerry
• Herbert
• Genghis
• Squirt

• Toto
• Seymour
• Gnats
• Ant farm

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Subsumption, what is good for?
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