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robot_design [2009-01-06 16:36] – created davegriffithsrobot_design [2009-01-07 15:05] (current) – 81.188.78.24
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 +Notes on robot design - see also [[lirec notes]] & [[category robotics]].
 +
 +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!=== ===Think hard - then act!===
   * Capable of learning and prediction   * Capable of learning and prediction
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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 learn   * Unable to learn
  
-From [[|here]]+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==== 
 + 
 +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
  
  
  
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