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--- robot_design [2009-01-06 17:00] – davegriffiths
+++ robot_design [2009-01-07 10:28] – 86.159.208.44
@@ Line 1: / Line 1: @@
 Notes on robot design - see also [[lirec notes]].
-"Robotics is the intelligent connection of perception to action" - Michael Brady
+Robotics is the intelligent connection of perception to action" - Michael Brady
-====Understanding the world====
+  * 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
-Sensors tell a robot about the outside world.
+====State====
-Actuators allow a robot to change the outside world, to act upon it.
-====Deliberative vs Reactive====
+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!===
@@ Line 17: / Line 30: @@
   * Needs a world model
   * Slow
+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!===
@@ Line 27: / 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!===