Monroe College

CS650
ARTIFICIAL
INTELLIGENCE
AI & Robotics

Overview
Introduction / Terminology
Examples of Agencies
SPOT & Fresh Kitty
RoboCup

Applications of AI and Robotics

More Examples
The Humanoid COG
Film Clip

Terminology
Artificial Intelligence The collective attributes of a computer, robot, or
other device capable of performing functions such as learning,
decision making, or other intelligent human behaviors.

Autonomous Agent A hardware (or software) based system that has

the following properties:

autonomy - able to operate without the direct intervention of

humans
or others
social ability - able to interact with other agents and possibly humans
reactivity - able to perceive their environment and respond to
changes that occur in it

Agency A particular system composed of intelligent agents, such as

computers or robots, that cooperate in order to solve a problem.

Behavior Engineering A methodology used to develop behaviorbased autonomous agents.

Definition of Robotics
A robot is
An active artificial agent whose environment is
the physical world

--Russell and Norvig

A programmable, multifunction manipulator

designed to move material, parts, tools or

specific devices through variable programmed
motions for the performance of a variety of tasks
--Robot Institute of America

Sensors
Force-sensing
Tactile-sensing
Sonar
Visual (camera)
Proprioceptive
Robot with camera
attached

Architecture
Classical architecture
shortcomings

Behavior-based architecture
Reason about behavior of objects
Sensors

Identify objects
Build maps
Avoid objects
Design for a mobile robot
(adaptebehavior-basedd from Fig 25.10 in AIMA)

Actuators

Fresh Kitty
Modular, inexpensive, autonomous
mobile robot

4 wheel toy car design

Max. speed of 1 foot/sec
On-board microcomputer supervises and
supports the exchange of information

Rotating turret holds 4 sonars

Turret also holds an infrared sensor to
detect infrared rays

32 light sensors detect objects in front of

the robot

Bumpers all around the robot used to

follow walls

Radio modem to communicate with

remote agents

SPOT
Autonomous mobile robot
2 independent wheel design
Max. speed of 1 foot/sec
On-board microcontroller
supervises and supports the
exchange of information

Turret that holds infrared

emitters that can be detected
at a distance of up to 20 feet

Bumpers all around the robot

used to follow walls

Radio modem to
communicate with remote
agents

How do SPOT and Fresh

Kitty work together?
SPOT also holds a small brush on its back
SPOT finds a wall and uses its bumper
system and sensors to follow edges and
collect dust with its brush

Through radio frequency and infrared

communication SPOT can bring the dust
back to Fresh Kitty who has a vacuum
cleaner waiting to suck it up

RoboCup
RoboCup is an international research effort to
promote autonomous robots.

Robots must cooperate

in
Strategy acquisition
Real-time reasoning
Multi-agent collaboration
Competition against
another team of robots

RoboCup
Each robot has
Pentium 233MHz
Linux OS
Video camera and
frame grabber

Sensor System
Kicker

How to the robots make

decisions?
Control is based on a set of behaviors
Each behavior has a set of preconditions
that either
Must be satisfied
Are desired

A behavior is selected when all of the

musts become true

A behavior is selected from several

behaviors based on how many desired

conditions are true

Applications of AI and
Robotics

Industrial Automation
Services for the Disabled
Vision Systems
Planetary Exploration
Mine Site Clearing
Law Enforcement
And Many Others

More Examples

The Humanoid COG

MITs finest
Broken down COG is just a
bunch of sensors and
actuators

Except for legs and a flexible

spine, COG has all the major
degrees of freedom of the
human upper body

Sight exists through video

cameras

Hearing, touch, hand

motion, and speech are

being added soon

Why build a human-like robot?

Our bodies are critical to the representations

that we use for internal thought and language

If a robot is looks like a human then it will be

natural for humans to interact with it in a
human-like way

To develop similar task constraints

Current Developments
Emotions
Energy-efficiency
Integration
Hierarchy of information representation

Control structures
Synthesis of neural nets and fuzzy logic

Robotic surgery
Telepresence

Robot perception
Face and object recognition

Importance of Emotions
Emotions help prevent people from
repeating their mistakes (decisions that
resulted in negative feelings)

Recognizing emotions would allow

robots to become more responsive to
users needs

Exhibiting emotions would help robots

interact with humans

Classification of Emotions
Continuous
Emotions defined in multi-dimensional space of
attributes

Arousal-Valence Plane

Discrete
Defines 5, 6, or more basic emotional states upon
which more complex emotions are based

Arousal-Valence Plane
Valence whether emotion is positive or negative
Arousal intensity of emotion

Classification of Emotions
Plutchiks Theory:
Eight primitive emotions that more complex emotions are based upon

Gladness (joy)
Sadness
Anger
Surprise
Acceptance
Disgust
Expectancy
Fear

Complexity of Emotional
Classification

Affective Research:
Kismet

Decides proper emotional

response to stimuli and

exhibits corresponding
facial expression, body
posture, and vocal quality

Behavioral response serves

either social or selfmaintenance functions

Kismet smiling

Current Implementation
Industrial robots
used in factories to
manufacture boxes and
pack and wrap
merchandise

Car manufacturers own

50% of todays robots

Robots used in
hazardous situations
Nuclear power plants
Response to bomb threat
Outer space exploration

Robotic arm arranging

chocolates

Current Implementation:
Asimo
Hondas Asimo (Advanced
Step in Innovative Mobility)

Able to walk freely (can

change stride speed)

Hondas Asimo

Able to balance on one foot

Able to climb stairs
Able to manipulate objects
Space- & cost-efficient

Asimos Recognition
Technology

Based on visual cues

such as the angle and

distance at which it
perceives an object

Can map an object's

contour and compare it

to a database of
prototypes for different
expressions and
actions

Is currently limited to
pre-registered people

ASIMO making measurements