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| robot_design [2009-01-06 17:32] – 86.169.225.249 | robot_design [2009-01-07 15:05] (current) – 81.188.78.24 | ||
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| - | Notes on robot design - see also [[lirec notes]]. | + | Notes on robot design - see also [[lirec notes]] & [[category robotics]]. |
| - | "Robotics is the intelligent connection of perception to action" | + | Robotics is the intelligent connection of perception to action" |
| * 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: | ||
| ====State==== | ====State==== | ||
| Line 10: | Line 11: | ||
| 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. | ||
| Line 18: | Line 19: | ||
| * 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:// | ||
| ===Don' | ===Don' | ||
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| * Unable to plan ahead | * Unable to plan ahead | ||
| * Unable to learn | * Unable to learn | ||
| + | |||
| + | For example: [[http:// | ||
| ===Or do both!=== | ===Or do both!=== | ||
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