A short introduction

bouncerarcheryAI and Robotics

Nov 14, 2013 (3 years and 6 months ago)

68 views

Mobile Robotics @ LabRob

A short introduction

Basilio Bona

Michele Bongiovanni


Laboratorio di Robotica

Dipartimento di Automatica e Informatica

Politecnico di Torino

01CFIDV
-

Robotica
-

11 Marzo 2005

2

Overview



Why mobility?



Applications



Approaches



Solutions



LabRob activity

01CFIDV
-

Robotica
-

11 Marzo 2005

3

Why mobility?


Increased number of degrees of
freedom


challenging tasks that require displacement
abilities.


Autonomy


Human
-

(animal
-
) like behaviors


Helpers or substitutes for
stressing/dangerous tasks

01CFIDV
-

Robotica
-

11 Marzo 2005

4

Applications fields
-

1


Hospitals/Airports/Ho
me


(Semi)Autonomous
wheel
-
chairs


Assistants


Vacuum cleaners


Toys



Requirements


Robustness


User friendly human
-
machine interface


Environment sensing

01CFIDV
-

Robotica
-

11 Marzo 2005

5

Applications fields
-

2


Military


Mine finder


Flying sentinels


Soldiers (????)



Requirements


SLAM


Team paradigm


Communication


Reliable sensory
systems and fusion


Reliable hardware


Real
-
time software


01CFIDV
-

Robotica
-

11 Marzo 2005

6

Applications fields
-

3


Scientific/industrial
explorations


Pyramid project


Pipelines


Underwater


Space



Requirements


Scalability


Adaptativity


Reliable sensing


SLAM


Remote controller
systems

01CFIDV
-

Robotica
-

11 Marzo 2005

7

Application fields
-

4


Bio
-
inspired


Insects (the great part)


Flies


Ants


Spiders


Bugs


Fish



Requirements


Microtechnologies


Low
-
level coding


Swarm paradigm


Redundancy strategies


Cooperation/communica
tion


“Natural” behaviors


NN controllers


Artificial intelligence


Coherence with reality


01CFIDV
-

Robotica
-

11 Marzo 2005

8

Application fields
-

5
-


ROBOT SOCCER


World wide robotic
research promotion



Requirements


Synchrony


Communication


High sensing skills

01CFIDV
-

Robotica
-

11 Marzo 2005

9

Approach

Behaviors

Interactions

Environment

Robot

structure

Modelling

Simulations

Real
world

Real robot

programming

Result

validation

01CFIDV
-

Robotica
-

11 Marzo 2005

10

Model based VS behavioral based

controller design


Model based


Dynamic continuous/discreet equations


Accurate mathematical model


Predictions and equilibria



Behavior based


Events and interaction rules


High dimension and noisy system


Blocks description


Mathematics hidden in high
-
level structures



01CFIDV
-

Robotica
-

11 Marzo 2005

11

Approach

Behaviors

Interactions

Environment

Robot

structure

Modelling

Simulations

Real
world

Real robot

programming

Result

validation

01CFIDV
-

Robotica
-

11 Marzo 2005

12

Solutions from simulated to real
world


“by hand” coding


No share of resources between simulation
software and hardware



Automatic coding


Fast prototyping techniques


Hardware in the loop



Hybrid


Custom code embedding


01CFIDV
-

Robotica
-

11 Marzo 2005

13

LabRob activity
-
1
-

RESEARCH


Fast prototyping using Simulink and the Real
Time Workshop


Design of real
-
time embedded controllers


Code porting on unsupported/custom
architectures


Model based VS behavioral based controllers
analysis and comparison (e.g. Simulink VS
Stateflow)



Sensor fusion


env. Mapping (SLAM)


InfraRed sensors (short distances < 4 m )


Sonar sensors (long distances < 3 m)


Video cameras

01CFIDV
-

Robotica
-

11 Marzo 2005

14

LabRob activity
-
2
-

RESEARCH


Algorithms of features extraction from
acquired images (colors, shapes, distances)



Evolution/dynamics of communication
emergence among simulated agents


Signal “grounding”


Communication means


Audio waves


Radio waves (which one?)


Light



Web learning and remote robot controller


Java (or equivalent) web interface


Radio communication host
-
robot link


Drive
-
by
-
cameras


01CFIDV
-

Robotica
-

11 Marzo 2005

15


2 x Khepera robot base
(MC68331) with sonars and
radio turrets


1 x PAL Color camera



1 x SoccerBot (MC68331)
with sonars, color camera,
radio system, kicker and LCD
display.



4 x Devantech sonars

LabRob Activity
-
3
-
AVAILABLE HARDWARE

01CFIDV
-

Robotica
-

11 Marzo 2005

16


MATLAB


Simulink


Stateflow


Real Time WorkShop



RTOS


VxWorks


Qnx


RTAI


Robots’ embedded operating systems.



Webots (Khepera and family robot simulator)

LabRob Activity
-
3
-


AVAILABLE SOFTWARE

01CFIDV
-

Robotica
-

11 Marzo 2005

17

Useful links

http://www.ladispe.polito.it/robotica/Labrob/indexen.htm

http://www.polito.it/

http://www.k
-
team.com

http://www.joker
-
robotics.com/eyebot/

http://www.mathworks.com/products/rtw/

http://www.robot
-
electronics.co.uk/

shop/Ultrasonic_Rangers1999.htm

http://www.cyberbotics.com/products/webots/

01CFIDV
-

Robotica
-

11 Marzo 2005

18

?? QUESTIONS ??

01CFIDV
-

Robotica
-

11 Marzo 2005

19

Coming next…

LADISPE di
AUTOMATICA

10:30
-
12:30

12:30
-
14:30

LUN 14/03

BONFITTO,
CARDELLINO,
CAVALERA, CERUTTI,
CHIONO, COCONDI,
CORATELLA,
CORSIATTO, DANNA,
DE GIUSEPPE

DEDOLA,
DEIRO,FAVOT, FELE,
FICILI, FILIPE,
FRASSY, GRASSINO,
IMPINNA, KAOUK

MER 16/03

LAFFRANCHI, MATTIO,
PAOLELLA, PEIRANO,
PONSETTI,
PRIMAVERA, SAGLIA,
SARRACINO,
SEVERINO, ZANCANER,
PEREZ, HUI KIT