Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
Next revision		 Previous revision
Last revisionBoth sides next revision
robot_design [2009-01-06 17:16] – davegriffithsrobot_design [2009-01-07 10:28] – 86.159.208.44
Line 1: Line 1:
 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" - Michael Brady+Robotics is the intelligent connection of perception to action" - Michael Brady
  
   * 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: Some sort of controller
  
 ====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== +  * Internal state: Directly observable state of the robot. Also it's internal representation of the world - it's internal model. 
-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]].
  
-==External state== +====Controllers====
-What's happening in the real world. Can only be known via a robot's sensors.+
  
-==Observable state== +Deliberative vs Reactive
-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 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====+
  
 ===Think hard - then act!=== ===Think hard - then act!===
Line 37: Line 30:
   * 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!===
Line 47: Line 42:
   * Unable to plan ahead   * Unable to plan ahead
   * Unable to learn   * Unable to learn
 +
 +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!=== ===Or do both!===
  • robot_design.txt
  • Last modified: 2009-01-07 15:05
  • by 81.188.78.24