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--- robot_design [2009-01-06 16:40] – davegriffiths
+++ robot_design [2009-01-07 10:28] – 86.159.208.44
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+Notes on robot design - see also [[lirec notes]].
+Robotics is the intelligent connection of perception to action" - Michael Brady
-====Think hard - then act!====
+  * Perception: Sensors tell a robot about the outside world.
+  * Action: Actuators allow a robot to change the outside world, to act upon it.
+  * Intelligence: Some sort of controller
+====State====
+State is what the robot collects in order to understand the world.
+(not too happy about these definitions...)
+  * Internal state: Directly observable state of the robot. Also it's internal representation of the world - it's internal model.
+  * External state: What's happening in the real world. Can only be known via a robot's sensors.
+  * Observable state: known at all times, usually internal - eg. battery state.
+  * Partially observable state: Through a sensor, along with noise eg: camera image pixels
+  * Hidden state: What you are actually interested in, in the real world - eg: position of user's head. Can't be directly known, must be indirectly inferred from (maybe multiple) sensors. See [[sensor fusion]].
+====Controllers====
+Deliberative vs Reactive
+===Think hard - then act!===
   * Capable of learning and prediction
   * Finds strategic solution
@@ Line 9: / Line 31: @@
   * Slow
-====Don't think, react!====
+For example : [[http://www.sri.com/about/timeline/shakey.html|Shakey]], the first robot built with a planning AI system (running on a PDP-10 and PDP-15 computer).
+===Don't think, react!===
   * Fast
   * Powerful, biological parallel
@@ Line 18: / Line 42: @@
   * Unable to plan ahead
   * Unable to learn
+For example: [[http://smfr.org/robots/|BEAM robots]] which stands for Biology, Electronics, Aesthetics, Mechanics, and was originally invented by [[http://en.wikipedia.org/wiki/Mark_Tilden|Mark Tilden]].
+===Or do both!===
+  * Deliberative system on top
+  * Reactive underneath
+  * Hybrid or Behavioural system
 ====Links====