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robot_design [2009-01-06 17:00] – davegriffiths | robot_design [2009-01-07 09:39] – 86.159.208.44 | ||
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Notes on robot design - see also [[lirec notes]]. | Notes on robot design - see also [[lirec notes]]. | ||
- | "Robotics is the intelligent connection of perception to action" | + | Robotics is the intelligent connection of perception to action" |
- | ====Understanding | + | * Perception: Sensors tell a robot about the outside |
+ | * Action: Actuators allow a robot to change the outside world, to act upon it. | ||
+ | * Intelligence: | ||
- | Sensors tell a robot about the outside world. | + | ====State==== |
- | Actuators allow a robot to change the outside world, to act upon it. | + | |
- | ====Deliberative vs Reactive==== | + | State is what the robot collects in order to understand the world. |
+ | |||
+ | (not to 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' | ||
+ | * 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!=== | ||
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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!=== |