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Robotics Part I: from Control to Learning Model-Based Control

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Robotics Part I: from Control to Learning Model-Based Control Robotics Part I: From Control to Learning Model-based Control Stefan Schaal Max-Planck-Institute for Inteligent Systems Tübingen, Germany & Computer Science, Neuroscience, & Biomedical Engineering University of Southern California, Los Angeles [email protected] http://www-amd.is.tuebingen.mpg.de Grand Challenge #I: The Human Brain How does the brain learn and control complex motor skills? Applications: Facilitate learning, neuro-prosthetics, brain machine interfaces, movement rehabilitation, etc. Example Application: Revolutionary Prosthetics A Key Question for Research: How does the brain control muscles and coordinate movement? Grand Challenge #II: Humanoids Can we create an autonomous humanoid robot? Applications: assistive robotics, hazardous environments, space exploration, etc. Example: The Hollywood View of Assistive Robotics From the movie “I, Robot” The Hollywood Future Is Not So Far ... The Hollywood Future Is Not So Far ... Outline • A Bit of Robotics History • Foundations of Control • Adaptive Control • Learning Control - Model-based Robot Learning Robotics–The Original Vision Karel Capek 1920: Rossum’s Universal Robots Robotics–The Initial Reality Some History Bullets 1750 1960 1968 Swiss craftsmen create automatons with clockwork Artificial intelligence teams at Stanford Research Unimation takes its first multi-robot order from General mechanisms to play tunes and write letters. Institute in California and the University of Edinburgh Motors. in Scotland begin work on the development of 1917 machine vision. 1969 The word "robot" first appears in literature, coined Robot vision, for mobile robot guidance, is demonstrated at in the play Opilek by playwright Karel Capek, who 1961 the Stanford Research Institute. derived it from the Czech word "robotnik" meaning George C. Devol obtains the first U.S. robot patent, "slave." No. 2,998,237. 1969 Unimate robots assemble Chevrolet Vega automobile bodies 1921 1961 for General Motors. The term robot is made famous by Capek's play First production version Unimate industrial robot is R.U.R. (Rossum's Universal Robots). installed in a die-casting machine. 1970 General Motors becomes the first company to use machine 1938 1961 vision in an industrial application. The Consight system is Isaac Asimov coins the term robotics in his science The MH-1, Mechanical Hand with sensors, is installed at a foundry in St. Catherines, Ontario, fiction novels, and formulates the Three Laws of developed at MIT by Ernst. Canada. Robotics which prevent robots from harming humans. 1962 1970 Consolidated Diesel Electric Company (Condec) and The Russian lunar rover Lunakhod, wheels about on the 1954 Pullman Corporation enter into joint venture and form moon. The first United Kingdom robotics patent, No. Unimation, Inc. (Unimation stood for "Universal 781465, is granted in England on March 29. Automation"). 1970 The first American symposium on robots meets in Chicago. 1956 1963 The Logic Theorist, an artificial intelligence machine The Versatran industrial robot became commercially 1971 capable of proving logical propositions point-by- available. Japan establishes the Japanese Industrial Robot Association point, is unveiled at Dartmouth College. (JIRA), and becomes the first nation to have such an 1964 organization. 1958 The first Tralfa robot is used to paint wheelbarrows in a Joseph F. Engelberger sets up a business in his Norwegian factory during a human labor shortage. 1972 garage called Consolidated Controls, making The SIRCH machine, capable of recognizing and orienting aircraft components. Joseph F. Engleberger and 1966 randomly presented two-dimensional parts, is developed George C. Devol name their The first prototype painting robots are installed in at the University of Nottingham, England. first robot "Unimate." The first Unimate is installed factories in Byrne, Norway. at a General Motors plant to work with heated die- 1972 casting machines. founds Unimation, the first 1966 Kawasaki installs a robot assembly line at Nissan, Japan, commercial company The robotic spacecraft "Surveyor" (United States) using robots supplied by Unimation, Inc. to make robots. Unimation stood for Universal lands on the moon. automation. 1973 1968 "The Industrial Robot," the first international journal of "Shakey," the first complete robot system is built at robotics, begins publication. Stanford Research Institute, in California. Some History Bullets 1973 1977 1983 The ASEA Group of Vasteras, Sweden, introduces its The British Robotics Association (BRA) is founded. Westinghouse Electric Corporation buys Unimation, Inc., all- electric IRb 6 and IRb 60 robots, designed which becomes part of its factory automation enterprise. for automatic grinding operations. 1978 Westinghouse later sells Unimation to AEG of The first PUMA (Programmable Universal Assembly) robot Pennsylvania. 1974 is developed by Unimation for General Motors. Hitachi uses touch and force sensing with its Hi-T- 1984 Hand robot, allowing the robot hand to guide pins 1978 Robot Defense Systems introduces the Prowler into holes. The Machine Intelligence Company is organized by ("Programmable Robot Observer with Local Enemy Charles A. Rosen and associates. Response"), the first in a series of battlefield robots. 1974 The Robotics Industries Association is founded. 1979 1984 Japan introduces the SCARA (Selective Compliance Intelledex Corporation introduces the Model 695 lite assembly 1975 Assembly Robot Arm); Digital Electronic Automation robot, based on the Intel 8086 and 8087 microprocessor Cincinnati Milacron introduces its first T3 robot for (DEA) of Turin, Italy, introduces the PRAGMA robot, chips. Its software is called Robot Basic, a drilling applications. which is licensed to General Motors. specialized version of Microsoft's Basic. The ASEA 60kg robot is the first robot installed in an 1980 1993 iron foundry; the Cincinnati Milacron T3 becomes the Robotics languages are developed to ease programming The University of Michigan's CARMEL robot wins first place at first robot to be used in the aerospace industry. bottlenecks. the 1992 Robot Competition sponsored by the American Association for Artificial Intelligence (AAAI). 1976 1981 CARMEL stands for computer-aided robotics for maintenance, The Trallfa spray-painting robot is adapted for arc IBM enters the robotics field with its 7535 and 7565 emergency, and life support. The SRI International's robot welding at the British agricultural implement firm of Manufacturing Systems. "FLAKEY" wins second place. Both Ransome, Sims and Jefferies. microcomputer- controlled machines use ultrasonic sonar 1982 sensors. 1976 The Pedesco robot (Pedesco, Scarborough, Ontario) is Remote Center Compliance evolves from research used to clean up after a nuclear fuel spill at an atomic 1997 at Charles Stark Draper Labs, Cambridge, Mass. power plant. A task too dangerous for direct human The Honda Humanoid Robot is introduced Dynamics of part mating are developed, allowing contact. robots to line up 2002 parts with holes both laterally and rotationally. 1982 The Roomba Robot is the first household robot to be sold Stan Mintz and five co-employees of Hewlett-Packard more than one million times 1976 Company left to form Intelledex Corporation, a The robotic spacecraft "Viking" (United States) lands manufacturer of light assembly robots, for such tasks as 2005 on the Martian surface. installing Autonomous Car Navigation in complex terrain in the DARPA integrated circuits. Grand Challenge 1977 California Institute of Technology's Jet Propulsion 1981-1984 Laboratory (JPL) demonstrates a robotic hand- Rehabilitation robots are enhanced by mobility, voice eye system can be integrated with a self- communication, and safety factors. Greater emphasis is propelled vehicle for planetary exploration. placed on machine vision, tactile sensors, and languages. (Mars Rover) Battlefield and security robots are developed. 1983 Robotics–What We Might Want Some History of Robot Juggling Outline • A Bit of Robotics History • Foundations of Control • Adaptive Control • Learning Control - Model-based Robot Learning Control Diagrams: Perception-Action-Learning Learning System Model: x! = f (x,u,t,εx ) Observation Model: y = h(x,u,t,εy ) Control Policies • The General Goal of Control: Control Policies u(t) = π (x(t),t,α ) But how should control policies be represented? Representing Control Policies • Feedforward Control: - Control policy does not receive feedback from the robot/environment Open Loop Control Desired Behavior u x Controller Robot • Feedback Control – Control policy does receive feedback from the robot/environment Closed Loop Control Desired Behavior u x Controller Robot Representing Control Policies: Types of Feedback Control • General Feedback Control: Feedback Control Desired Behavior Nonlinear u x Controller (Policy) Robot • Negative Feedback Control Negative Feedback Control u xdesired Feedback fb x ∑ + Controller Robot – • Negative Feedback and Feedforward Control Neg. Feedback & Feedforward Control Feedforward Controller uff u + xdesired Feedback fb x ∑ + ∑ + Controller Robot – Representing Control Policies: Variations of Closed-Loop Control • Direct Control: Learning – policy creates directly motor System commands Desired Behavior u Movement x Control Policy - Pros: Very general representation System - Cons: Hard to find these control policies, hard to re-use (generalization) • Indirect Control – policy creates kinematic trajectory plans, and converts them to motor commands - Pros: easier to re-use - Cons: more pre-structure required, less flexible
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