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robot_design [2009-01-06 17:32] – 86.169.225.249robot_design [2009-01-07 10:28] – 86.159.208.44
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 Notes on robot design - see also [[lirec notes]]. 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
  
   * Perception: Sensors tell a robot about the outside world.   * Perception: Sensors tell a robot about the outside world.
   * Action: Actuators allow a robot to change the outside world, to act upon it.   * Action: Actuators allow a robot to change the outside world, to act upon it.
 +  * Intelligence: Some sort of controller
  
 ====State==== ====State====
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 State is what the robot collects in order to understand the world. State is what the robot collects in order to understand the world.
  
-(not to happy about these definitions...)+(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.   * Internal state: Directly observable state of the robot. Also it's internal representation of the world - it's internal model.
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   * 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]].   * 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]].
  
-====Deliberative vs Reactive====+====Controllers==== 
 + 
 +Deliberative vs Reactive
  
 ===Think hard - then act!=== ===Think hard - then act!===
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   * Needs a world model   * Needs a world model
   * Slow   * 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!=== ===Don't think, react!===
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   * Unable to plan ahead   * Unable to plan ahead
   * Unable to learn   * 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!=== ===Or do both!===
  • robot_design.txt
  • Last modified: 2009-01-07 15:05
  • by 81.188.78.24