I, Rodney Brooks, Am a Robot
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From Prometheus to Pistorius: a Genaelogy of Physical Ability
FROM PROMETHEUS TO PISTORIUS: A GENAELOGY OF PHYSICAL ABILITY by Stephanie J. Cork A thesis submitted to the Department of Sociology In conformity with the requirements for the degree of Masters of Arts Queen’s University Kingston, Ontario, Canada (September, 2011) Copyright ©Stephanie J. Cork, 2011 Abstract (Fragile Frames + Monstrosities)ModernWar + (Flagged Bodies + Cyborgs)PostmodernWar = dis-AbilityCyborged ii Acknowledgements A huge thank you goes out to: my friends, colleagues, office neighbours, mentors, family, defence committee, readers, editors and Steve. Thank you, also, to the Canadian and American troops as well as Paralympic athletes, Oscar Pistorius and Aimee Mullins for their inspiration, sorry, I have borrowed your stories to perpetuate my own academic success. Thanks also to Louise Bark for her endless patience and kindness, as well as a pint (or three!) at Ben’s Pub. Anne and Wendy and especially Michelle: you are lifesavers! Finally, my eternal gratitude to the: “greatest man alive,” Dr. Rob Beamish (Scott Mason 2011). iii Table of Contents Abstract............................................................................................................................................. i Acknowledgements......................................................................................................................... iii Table of Contents............................................................................................................................ iv Chapter 1: Introduction.....................................................................................................................1 -
Behavior Trees in Robotics and AI
Michele Colledanchise and Petter Ogren¨ Behavior Trees in Robotics and AI An Introduction arXiv:1709.00084v4 [cs.RO] 3 Jun 2020 Contents 1 What are Behavior Trees? ....................................... 3 1.1 A Short History and Motivation of BTs . .4 1.2 What is wrong with FSMs? The Need for Reactiveness and Modularity . .5 1.3 Classical Formulation of BTs. .6 1.3.1 Execution Example of a BT . .9 1.3.2 Control Flow Nodes with Memory . 11 1.4 Creating a BT for Pac-Man from Scratch . 12 1.5 Creating a BT for a Mobile Manipulator Robot . 14 1.6 Use of BTs in Robotics and AI . 15 1.6.1 BTs in autonomous vehicles . 16 1.6.2 BTs in industrial robotics . 18 1.6.3 BTs in the Amazon Picking Challenge . 20 1.6.4 BTs inside the social robot JIBO . 21 2 How Behavior Trees Generalize and Relate to Earlier Ideas . 23 2.1 Finite State Machines . 23 2.1.1 Advantages and disadvantages . 24 2.2 Hierarchical Finite State Machines . 24 2.2.1 Advantages and disadvantages . 24 2.2.2 Creating a FSM that works like a BTs . 29 2.2.3 Creating a BT that works like a FSM . 32 2.3 Subsumption Architecture . 32 2.3.1 Advantages and disadvantages . 33 2.3.2 How BTs Generalize the Subsumption Architecture . 33 2.4 Teleo-Reactive programs . 33 2.4.1 Advantages and disadvantages . 34 2.4.2 How BTs Generalize Teleo-Reactive Programs . 35 2.5 Decision Trees . 35 2.5.1 Advantages and disadvantages . -
Pdf • Cynthia Breazeal
© copyright by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic 2019. https://www.human-robot-interaction.org Human{Robot Interaction An Introduction Christoph Bartneck, Tony Belpaeme, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, Selma Sabanovi´cˇ This material has been published by Cambridge University Press as Human Robot Interaction by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic. ISBN: 9781108735407 (http://www.cambridge.org/9781108735407). This pre-publication version is free to view and download for personal use only. Not for re-distribution, re-sale or use in derivative works. © copyright by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic 2019. https://www.human-robot-interaction.org This material has been published by Cambridge University Press as Human Robot Interaction by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic. ISBN: 9781108735407 (http://www.cambridge.org/9781108735407). This pre-publication version is free to view and download for personal use only. Not for re-distribution, re-sale or use in derivative works. © copyright by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic 2019. https://www.human-robot-interaction.org Contents List of illustrations viii List of tables xi 1 Introduction 1 1.1 About this book 1 1.2 Christoph -
History of Robotics: Timeline
History of Robotics: Timeline This history of robotics is intertwined with the histories of technology, science and the basic principle of progress. Technology used in computing, electricity, even pneumatics and hydraulics can all be considered a part of the history of robotics. The timeline presented is therefore far from complete. Robotics currently represents one of mankind’s greatest accomplishments and is the single greatest attempt of mankind to produce an artificial, sentient being. It is only in recent years that manufacturers are making robotics increasingly available and attainable to the general public. The focus of this timeline is to provide the reader with a general overview of robotics (with a focus more on mobile robots) and to give an appreciation for the inventors and innovators in this field who have helped robotics to become what it is today. RobotShop Distribution Inc., 2008 www.robotshop.ca www.robotshop.us Greek Times Some historians affirm that Talos, a giant creature written about in ancient greek literature, was a creature (either a man or a bull) made of bronze, given by Zeus to Europa. [6] According to one version of the myths he was created in Sardinia by Hephaestus on Zeus' command, who gave him to the Cretan king Minos. In another version Talos came to Crete with Zeus to watch over his love Europa, and Minos received him as a gift from her. There are suppositions that his name Talos in the old Cretan language meant the "Sun" and that Zeus was known in Crete by the similar name of Zeus Tallaios. -
Intelligence Without Representation: a Historical Perspective
systems Commentary Intelligence without Representation: A Historical Perspective Anna Jordanous School of Computing, University of Kent, Chatham Maritime, Kent ME4 4AG, UK; [email protected] Received: 30 June 2020; Accepted: 10 September 2020; Published: 15 September 2020 Abstract: This paper reflects on a seminal work in the history of AI and representation: Rodney Brooks’ 1991 paper Intelligence without representation. Brooks advocated the removal of explicit representations and engineered environments from the domain of his robotic intelligence experimentation, in favour of an evolutionary-inspired approach using layers of reactive behaviour that operated independently of each other. Brooks criticised the current progress in AI research and believed that removing complex representation from AI would help address problematic areas in modelling the mind. His belief was that we should develop artificial intelligence by being guided by the evolutionary development of our own intelligence and that his approach mirrored how our own intelligence functions. Thus, the field of behaviour-based robotics emerged. This paper offers a historical analysis of Brooks’ behaviour-based robotics approach and its impact on artificial intelligence and cognitive theory at the time, as well as on modern-day approaches to AI. Keywords: behaviour-based robotics; representation; adaptive behaviour; evolutionary robotics 1. Introduction In 1991, Rodney Brooks published the paper Intelligence without representation, a seminal work on behaviour-based robotics [1]. This paper influenced many aspects of research into artificial intelligence and cognitive theory. In Intelligence without representation, Brooks described his behaviour-based robotics approach to artificial intelligence. He highlighted a number of points that he considers fundamental in modelling intelligence. -
Examining the Use of Robots As Teacher Assistants in UAE
Volume 20, 2021 EXAMINING THE USE OF ROBOTS AS TEACHER ASSISTANTS IN UAE CLASSROOMS: TEACHER AND STUDENT PERSPECTIVES Mariam Alhashmi* College of Education, Zayed University, [email protected] Abu Dhabi, UAE Omar Mubin Senior Lecturer in Human Computer [email protected] Interaction, Sydney, Australia Rama Baroud Part-Time Research Assistant [email protected] * Corresponding author ABSTRACT Aim/Purpose This study sought to understand the views of both teachers and students on the usage of humanoid robots as teaching assistants in a specifically Arab context. Background Social robots have in recent times penetrated the educational space. Although prevalent in Asia and some Western regions, the uptake, perception and ac- ceptance of educational robots in the Arab or Emirati region is not known. Methodology A total of 20 children and 5 teachers were randomly selected to comprise the sample for this study, which was a qualitative exploration executed using fo- cus groups after an NAO robot (pronounced now) was deployed in their school for a day of revision sessions. Contribution Where other papers on this topic have largely been based in other countries, this paper, to our knowledge, is the first to examine the potential for the inte- gration of educational robots in the Arab context. Findings The students were generally appreciative of the incorporation of humanoid robots as co-teachers, whereas the teachers were more circumspect, express- ing some concerns and noting a desire to better streamline the process of bringing robots to the classroom. Recommendations We found that the malleability of the robot’s voice played a pivotal role in the for Practitioners acceptability of the robot, and that generally students did well in smaller Accepting Editor Minh Q. -
Planetary Exploration Using Bio Inspired Technologies
© 2016 California Institute of Technology. Government sponsorship acknowledged. Planetary exploration using bio inspired technologies Ref.: Y. Bar-Cohen & D. Hanson “Humanlike Robots” 2009. Courtesy of Adi Marom, Graphics Artist. Yoseph Bar-Cohen, Jet Propulsion Laboratory, California Institute of Technology http://ndeaa.jpl.nasa.gov/ Who really invented the wheel? Ref: http://www.natgeocreative.com/photography/1246755 2 Biology – inspiring human innovation Honeycomb structures are part of almost every aircraft The fins were copied to significantly improve Flying was enabled using aerodynamic swimming and diving principles http://www.wildland.com/trips/details/326/ne The spider is quite an w_zealand_itin.aspx “engineer”. Its web may have inspired the fishing net, fibers, clothing and others. http://www.swimoutlet.com/Swim_Fins _s/329.htm The octopus as a model for biomimetics Adaptive shape, texture and camouflage of the Octopus Courtesy of William M. Kier, of North Carolina Courtesy of Roger T. Hanlon, Director, Marine Resources Center, Marine Biological Lab., MA Camouflage has many forms The swan puffs its wings to look Jewel Scarab Beetles - Leafy seadragon bigger in an attack posture bright colors appear bigger Butterfly - Color matching Owl butterfly Wikipedia freely licensed media Lizard - Color matching http://en.wikipedia.org/wiki/Owl_butterfly 5 Plants use of camouflage • To maximize the pollination opportunities - flowers are as visible as possible. • To protect from premature damage – initially, fruits are green, have sour taste, and are camouflaged by leaves. • Once ripped, fruits become colorful and tasty, as well as have good smell Biomimetic robotic exploration of the universe The mountain goat is an inspiring model for all- terrain legged rovers The Curiosity rover and the Mars Science Laboratory MSL) landed on Mars in Aug. -
Origins of the American Association for Artificial Intelligence
AI Magazine Volume 26 Number 4 (2006)(2005) (© AAAI) 25th Anniversary Issue The Origins of the American Association for Artificial Intelligence (AAAI) Raj Reddy ■ This article provides a historical background on how AAAI came into existence. It provides a ratio- nale for why we needed our own society. It pro- vides a list of the founding members of the com- munity that came together to establish AAAI. Starting a new society comes with a whole range of issues and problems: What will it be called? How will it be financed? Who will run the society? What kind of activities will it engage in? and so on. This article provides a brief description of the consider- ations that went into making the final choices. It also provides a description of the historic first AAAI conference and the people that made it happen. The Background and the Context hile the 1950s and 1960s were an ac- tive period for research in AI, there Wwere no organized mechanisms for the members of the community to get together and share ideas and accomplishments. By the early 1960s there were several active research groups in AI, including those at Carnegie Mel- lon University (CMU), the Massachusetts Insti- tute of Technology (MIT), Stanford University, Stanford Research Institute (later SRI Interna- tional), and a little later the University of Southern California Information Sciences Insti- tute (USC-ISI). My own involvement in AI began in 1963, when I joined Stanford as a graduate student working with John McCarthy. After completing my Ph.D. in 1966, I joined the faculty at Stan- ford as an assistant professor and stayed there until 1969 when I left to join Allen Newell and Herb Simon at Carnegie Mellon University Raj Reddy. -
Distributed Behavior-Based Control Architecture for a Wall Climbing Robot
MALAYSIAN SCIENCE & TECHNOLOGY CONGRESS '98 MY01 01 650 Symposium C: Computer Science & Information Technology •' 'niwrsilt Sains Malaysia. Pulau Piaany., 10-11 tJmvmher IWi DISTRIBUTED BEHAVIOR-BASED CONTROL ARCHITECTURE FOR A WALL CLIMBING ROBOT Nadir Ould Khessal Shamsudin H. M. Amin Faculty of Electrical Engineering Faculty of Electrical Engineering University Technology Malaysia University Technology Malaysia PO. Box 791, Skudai 80990 PO. Box 791, Skudai 80990 Johor. Malaysia Johor, Malaysia Tel: (60)-07-5505138 Tel: (60)-07-5505003 Fax:(60)-07-5 566272 Fax :(60)-07-55 66272 [email protected] [email protected] ABSTRACT In the past two decades. Behavior-based AI (Artificial Intelligence) has emerged as a new approach in designing mobile robot control architecture. It stresses on the issues of reactivity, concurrency and real-time control. In this paper we propose a new approach in designing robust intelligent controllers for mobile robot platforms. The Behaviour-based paradigm implemented in a multiprocessing firmware architecture will further enhance parallelism present in the subsumption paradigm itself and increased real-timeness. The paper summarises research done to design a four-legged wall climbing robot. The emphasis will be on the control architecture of the robot based on the Behavior -based paradigm. The robot control architecture is made up of two layers, the locomotion layer and the gait controller layer. The two layers are implemented on a Vesra 68332 processor board running the Behaviour-based kernel. The software is developed using the "L," programming language , introduced by IS Robotics. The Behaviour-based paradigm is outlined and contrasted with the classical Knowledge-based approach. -
Ray Kurzweil Reader Pdf 6-20-03
Acknowledgements The essays in this collection were published on KurzweilAI.net during 2001-2003, and have benefited from the devoted efforts of the KurzweilAI.net editorial team. Our team includes Amara D. Angelica, editor; Nanda Barker-Hook, editorial projects manager; Sarah Black, associate editor; Emily Brown, editorial assistant; and Celia Black-Brooks, graphics design manager and vice president of business development. Also providing technical and administrative support to KurzweilAI.net are Ken Linde, systems manager; Matt Bridges, lead software developer; Aaron Kleiner, chief operating and financial officer; Zoux, sound engineer and music consultant; Toshi Hoo, video engineering and videography consultant; Denise Scutellaro, accounting manager; Joan Walsh, accounting supervisor; Maria Ellis, accounting assistant; and Don Gonson, strategic advisor. —Ray Kurzweil, Editor-in-Chief TABLE OF CONTENTS LIVING FOREVER 1 Is immortality coming in your lifetime? Medical Advances, genetic engineering, cell and tissue engineering, rational drug design and other advances offer tantalizing promises. This section will look at the possibilities. Human Body Version 2.0 3 In the coming decades, a radical upgrading of our body's physical and mental systems, already underway, will use nanobots to augment and ultimately replace our organs. We already know how to prevent most degenerative disease through nutrition and supplementation; this will be a bridge to the emerging biotechnology revolution, which in turn will be a bridge to the nanotechnology revolution. By 2030, reverse-engineering of the human brain will have been completed and nonbiological intelligence will merge with our biological brains. Human Cloning is the Least Interesting Application of Cloning Technology 14 Cloning is an extremely important technology—not for cloning humans but for life extension: therapeutic cloning of one's own organs, creating new tissues to replace defective tissues or organs, or replacing one's organs and tissues with their "young" telomere-extended replacements without surgery. -
Bluecover C-Bfront
! 0%67(KNO5VWFKGU%GPVGT $NWG/CIRKG'ZRGTKOGPVCN(KNO 5GTKGU6CKYCP ⛑䍄繷灓⻇洸㉒⼶ 5GRVGODGTł,CPWCT[ *WOCPKVKGU$WKNFKPI0%67%KPGOCHQTVJG#TVU *55 (KNO 5ETGGPKPI5EJGFWNG (TGG#FOKUUKQP RORO 㞎㤁⨑熿獌⧬䶬ↅ聆Ⰸ⹙砕㬂☡ ↛䰟Ⅽ氉 ↅⰈ↛㡨槜㉒楃 *55 㞎㤁羝峫獌哋䠒⑆⬕苌㺰⢏⬕禈磢桴䎛䡗Ⰺ 哨 5%*'&7.' 9/27/2017 ZANY EXPERIMENTAL ANIMATION AND MONTAGE •!M. Woods, THE DOCTOR IS IN (Digitized Mechanomorphic Consciou{SIC}ness Landscape #5) (USA 2016) 00:02:26 •!Adrián Regnier Chavez, A. (Mexico 2015) 00:07:13 •!Adrián Regnier Chavez, U. (Mexico 2014) 00:04:40 •!Naween Noppakun, WE LOVE ME (Thailand 2017) 00:13:00 •!Paul Wiersbinski, FLY HIGH OR I FLY ABOVE YOU (Germany 2016) 00:7:00 •!Victoria Karmin, EXTRATERRESTRIAL (Mexico 2015) 00:15:00 •!Deborah Kelly, BEASTLINESS (Australia 2011) 00:04:32 •!Jean-Michel Rolland, CARS MELODY (France 2011) 00:05:32 •!Marcantonio Lunardi, UNUSUAL JOURNEY (Italy 2017) 00:03.22 •!Marcantonio Lunardi, THE CAGE (Italy 2016) 00:05:47 •!Marcantonio Lunardi, ANTHROPOMETRY 154855 (Italy 2016) 00:03:36 •!Martin Sulzer, WETWARE (Germany 2017) 00:04:30 •!Przemek Wegrzyn, SECURITY MEASURES (Poland, 2015) 00:05:55 •!Bob Georgeson, WHY IS THIS HAPPENING? (Australia 2015) 00:07:31 10/18/2017 THE BODY—DANCE AND HAPTIC VISUALITY •!Anouska Samms and Sofia Pancucci-McQueen, THE BATHS (UK 2014– 2016) 00:012:27 •!Mark Freeman, BODY WITHOUT A BRAIN (US 2014) 00:06:50 •!Mark Freeman, BODY/BAG (US 2017) 00:02:45 •!Jean-Michel Rolland, THE RACE/LA COURSE (France 2013) 00:03:45 •!Suhrke/Skevik: Hilde Skevik and Ellen Henriette Suhrke, TRANSACTIONS #1 (Norway 2011) 00:03:44 •!Nishat Hossain, 45 MINUTES (USA 2016) 00:10:00 •!Suhrke/Skevik: Hilde Skevik and Ellen Henriette Suhrke, TRANSACTIONS #2 (Norway 2011) 00:05:42 •!Luna Rousseau/Nathan Israel/Thomas Israel/Kika Nicolela, THE MUD MAN/L'HOMME DE BOUE) (Belgium 2017) 00:010:02 •!Pete Burkeet, MANNEQUIN (USA, 2017) 00:07:58 •!Jeremy J. -
Assistive Humanoid Robot MARKO: Development of the Neck Mechanism
MATEC Web of Conferences 121, 08005 (2017) DOI: 10.1051/ matecconf/201712108005 MSE 2017 Assistive humanoid robot MARKO: development of the neck mechanism Marko Penčić1,*, Maja Čavić1, Srđan Savić1, Milan Rackov1, Branislav Borovac1, and Zhenli Lu2 1Faculty of Technical Sciences, University of Novi Sad, TrgDositejaObradovića 6, 21000 Novi Sad, Serbia 2School of Electrical Engineering and Automation, Changshu Institute of Technology, Hushan Road 99, 215500 Changshu, People's Republic of China Abstract.The paper presents the development of neck mechanism for humanoid robots. The research was conducted within the project which is developing a humanoid robot Marko that represents assistive apparatus in the physical therapy for children with cerebral palsy.There are two basic ways for the neck realization of the robots. The first is based on low backlash mechanisms that have high stiffness and the second one based on the viscoelastic elements having variable flexibility. We suggest low backlash differential gear mechanism that requires small actuators. Based on the kinematic-dynamic requirements a dynamic model of the robots upper body is formed. Dynamic simulation for several positions of the robot was performed and the driving torques of neck mechanism are determined.Realized neck has 2 DOFs and enables movements in the direction of flexion-extension 100°, rotation ±90° and the combination of these two movements. It consists of a differential mechanism with three spiral bevel gears of which the two are driving and are identical, and the third one which is driven gear to which the robot head is attached. Power transmission and motion from the actuators to the input links of the differential mechanism is realized with two parallel placed gear mechanisms that are identical.Neck mechanism has high carrying capacity and reliability, high efficiency, low backlash that provide high positioning accuracy and repeatability of movements, compact design and small mass and dimensions.