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Week 5 Review
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- Arizona State University
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Week 5 ReviewRobotics
Three laws of robotics
Can’t hurt humans or allow them to be harmed
Must obey human orders
Must protect it’s own existence
Field and service robots
need to operate safely in the presence of humans
move in complex and cluttered environments
Autonomous robots
make their own decisions rather than being programmed
Autonomous navigation
Where am I, where am I going, how do I get there?
A robot must have a model of the environment
Be able to perceive and analyze the environment
find its position
plan and execute movement
Indoor = structured
Outdoor = unstructured
Mobile robots
Automatic Guided Vehicle (Volvo)
cleaning robots (BR 700) - navigates by sonar
Teleoperated Robots
robot controlled by communication channels with humans
Week 5 Review 1
, Sojourner - first robot on MARS
ROV Tiburon robot - underwater robot for deep sea research -
teleoperated
Pioneer - explores nuclear plants
forester robots - automated coordination to walk, but navigation done
remotely by humans
Humanoid
challenging due to manipulation
Manipulation, unlike navigation, is much more challenging because
you need the system to be able to planning arm trajectories, to be
able to use your sensors to visually recognize the situation and
even recognition from depth sensors. Then you need the system to
be able to reconstruct the situation such as where the objects are,
their pose, their 3D shape, as well as their material extra. And then
use a vision based servo control mechanism to be able to guide
your manipulator.
Robotic Perception
Sensors
perception is physically implemented by the sensors
sensors → computers → decisions (left, right, turn, etc.)
camera models are the most commonly used sensors
Kinect
indoor 3d sensing
encodes depth information as well as RGB
Camera Models
A camera model derives the state of the agent from observation.
P(States | Observation)
geometric model that projects a 3D environment onto a 2D image space
Week 5 Review 2
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