Show pageOld revisionsBacklinksBack to top You've loaded an old revision of the document! If you save it, you will create a new version with this data. Media FilesNotes on robot design - see also [[lirec notes]]. Robotics is the intelligent connection of perception to action" - Michael Brady * 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 but: * Requires lots of computation - eg. brute force search for potential plan * 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!=== * Fast * Powerful, biological parallel but: * Minimal state * No memory * No internal representation of the world * Unable to plan ahead * Unable to learn For example: [[http://smfr.org/robots/|BEAM robots]] which stands for Biology, Electronics, Aesthetics, Mechanics. ===Or do both!=== * Deliberative system on top * Reactive underneath * Hybrid or Behavioural system ====Links==== Artificial Intelligence versus classical Robotics: http://www.ee.pdx.edu/~mperkows/CLASS_479/hardware/014.Robot-Control-Architectures.ppt http://eng.upm.edu.my/~kmbs/teaching/robotics/W6.pdf Please fill all the letters into the box to prove you're human. Please keep this field empty: SavePreviewCancel Edit summary Note: By editing this page you agree to license your content under the following license: CC Attribution-Share Alike 4.0 International robot_design.1231323865.txt.gz Last modified: 2009-01-07 10:24by 86.159.208.44