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Cognitive Robots

Jeff Krichmarjeff.krichmar@uci.edu

http://www.socsci.uci.edu/~jkrichmaLecture 1

Introduction• Class Organization• Introduction to Robots

– Robot control– Sensors– Actuators– Cognitive Robots?

• Introduction to LEGO Mindstorms– Drag & Drop, NXT-G– Text programming language, NXC

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Class Organization

• Syllabus• Textbooks• Laboratory• Replacement agreement• Grading

Introduction to Robots

• R.U.R. (Rossum's Universal Robots)– Play by Karel Čapek in 1921– Factory creates robots (Czech translation

for worker)– Robots end the human race.

• Modern day example?

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Isaac Asimov’s Laws (~1950)

1. A robot should neverharm a human being.

2. A robot should obey ahuman being, unless thiscontradicts the first law.

3. A robot should not harmanother robot, unless thiscontradicts the first orsecond law.

Astro Boy and JapaneseRobot Culture

• Astro Boy (1952)– “In 2003, a robot was

created by Dr. Tenma,mobilizing the cream ofthe technologists in theScience Ministry.”

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Robot Control

• Control Architecture– Low-level (autonomous)

• Stable actuation• Sensor input

– Intermediate (autonomous or tele-operated)• Basic behaviors

– Obstacle avoidance– Reflexive behavior– Sensor processing

– High-level (autonomous or tele-operated)• Full behaviors• Sensorimotor controls

From G. Bekey, Autonomous Robots

Feedback Control

– Input command: e.g. power steering– Error: difference between input command and actual direction– Controller, adjust command based on error signal– Dynamic system with lags

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Sensors

• Exteroceptive sensors - used to obtaininformation from the external environment– Biological: vision, hearing, olfaction, touch, and

taste.– Robot: camera, microphone, switches

• Proprioceptive sensors - monitor theorganism’s or robot’s internal environment– Biological: vestibular, stretch receptor, autonomic– Robot: odometer, servo load, battery level

Actuators

• Means to physically interact with theenvironment– Electric motors– Pneumatic and hydraulic actuators– http://gizmodo.com/368651/new-video-of-bigdog-quadruped-robot-

is-so-stunning-its-spooky

– Artificial muscles• Electric activated polymers• http://cosmos.bcst.yahoo.com/up/player/popup/?cl=7064054

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Software Architectures

• Artificial Intelligence• Subsumption architecture (Rod Brooks)• Behavior-based (Ron Arkin)• Probabilistic Robots (Sebastian Thrun)• Neurorobots (Jeff Krichmar)

Robot Examples

• ASIMO - Advance Step in Innovative MObility– http://world.honda.com/HDTV/ASIMO/

• RoboCup• Cog• Roomba

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RoboCup - 4 Legged League

Cog & Kismet - MIT

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iRobot Roomba• http://cdn.irobot.com/filelibrary/Roomba_Videos/560video.html

Cognitive Robots:Brain-Based Approach

• The design should be constrained by theseprinciples:– Incorporate a simulated brain with detailed

neuroanatomy and neural dynamics.– Organize the signals from the environment into

categories without a priori knowledge orinstruction.

– Active sensing and autonomous movement in theenvironment.

– Engage in a behavioral task.– Adapt behavior when an important environmental

event occurs.

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Darwin VII - BeforeLearning

Darwin VII - After Learning

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RoboCup - Segway League