Rolf pfeifer conferencia magistral

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Text of Rolf pfeifer conferencia magistral

Soft RoboticsSelf-organization, embodiment,

and biological inspirationThe four messages of embodiment

Tecnolgico de Monterrey Campus Quertaro22 February 2011

Rolf Pfeifer, Artificial Intelligence LaboratoryDepartment of informatics, University of Zurich, Switzerland

Freitag, 4. Mrz 2011

Thanks to ...

Hajime AsamaRudolf BannaschJosh BongardSimon BovetRodney BrooksWeidong ChenSteve CollinsHolk CrusePaolo DarioRaja DravidRodney DouglasPeter EggenbergerMartin FischerDario FloreanoToshio FukudaRobert FullGabriel GomezFumio HaraAlejandro HernandezOwen HollandKoh HosodaFumiya IidaAuke Ijspeert Takashi Ikegami

Masayuki InabaAkio IshiguroOussama KathibAlois KnollYasuo KuniyoshiLukas LichtensteigerMax LungarellaRen LuoShuhei MiyashitaNorman PackardMike RinderknechtRoy RitzmannAndy RuinaGiulio SandiniOlaf SpornsLuc SteelsRuss TedrakeEsthen ThelenSethu VijakyakumarRuediger WehnerMartijn WisseHiroshi YokoiWenwei YuMarc Ziegler

Freitag, 4. Mrz 2011

for their ideas

Hajime AsamaRudolf BannaschJosh BongardSimon BovetRodney BrooksWeidong ChenSteve CollinsHolk CrusePaolo DarioRaja DravidRodney DouglasPeter EggenbergerMartin FischerDario FloreanoToshio FukudaRobert FullGabriel GomezFumio HaraAlejandro HernandezOwen HollandKoh HosodaFumiya IidaAuke Ijspeert Takashi Ikegami

Masayuki InabaAkio IshiguroOussama KathibAlois KnollYasuo KuniyoshiLukas LichtensteigerMax LungarellaRen LuoShuhei MiyashitaNorman PackardMike RinderknechtRoy RitzmannAndy RuinaGiulio SandiniOlaf SpornsLuc SteelsRuss TedrakeEsthen ThelenSethu VijakyakumarRuediger WehnerMartijn WisseHiroshi YokoiWenwei YuMarc Ziegler

Freitag, 4. Mrz 2011

Goals

buzzword embodiment

seeing things differently

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Contents

Basic ideas: the four messages of embodiment

Applications: Service- and companion-robots

Where are we going? Soft robotics A look into the future: Self-assembly Take home message

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Getting into the spirit of embodiment

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The spirit of embodiment

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The spirit of embodiment

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The spirit of embodiment

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The spirit of embodiment

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The spirit of embodiment

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Crazy Bird Morphology, Control

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loosely hanging feetrubber/plastic

Design and construction:Mike Rinderknecht

Freitag, 4. Mrz 2011

Message 1: Physical embedding

Studying brain (or control) not sufficient: Understanding of

embedding of brain into organism organisms morphological and material

properties

interaction with environmentrequired

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Let me be clear

The brain is important!

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Let me be clear

The brain is important!

but not the whole story ...

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A bit of background

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Artificial Intelligence goals

1. Understanding biological systems

2. Making abstractions, developing theory

3. Applications

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animals

humans

beer-serving robot

vacuum cleanerFreitag, 4. Mrz 2011

Zurich AI Lab robots

Didabot

Famez

Sita

Rufus T.Firefly

Ms. Gloria Teasdale

MorphoFreitag, 4. Mrz 2011

Zurich AI Lab robots

AmouseSahabotI/IIMelissaTrippSamuraiAnalogrobDexterolatorStumpyEyebotMindstormsKheperasMitsubishiForkleg

Freitag, 4. Mrz 2011

Zurich AI Lab robots

Stumpy, Monkey, Puppy, Min-dog, Wheeled Walker, Mini-Stumpy, Wanda, Dumbo, Rabbit

Freitag, 4. Mrz 2011

Zurich AI Lab robots

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AI Lab Robots(exploration of morphology)

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Two views of intelligence

classical: cognition as computation

embodiment: cognition emergent from sensory-motor and interaction processes

Illustrations byShun Iwasawa

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Successes and failures of the classical approach

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successes

applications (e.g. Google)

chess

consumer electronics

etc.

failures

foundations of behavior

natural forms of intelligence

interaction with real world

Freitag, 4. Mrz 2011

Message 2: Real/Artificial worlds

Understanding of differences between industrial robots and humans/animals and their environments

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Industrial environments vs.real world

industrial environments

environment well-known

little uncertainty

predictability

real worldenvironment

limited knowledge and predictability

rapidly changing

high-level of uncertainty

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Industrial robots vs. natural systems

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principles:- strong, precise, fast motors- centralized control- optimization- computing power

Industrial robots

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Industrial robots vs. natural systems

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principles:- low precision- compliant- control distributed throughout body- reactive- coping with uncertainty

humans

no direct transfer of methods

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Transferring methods

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Sony Qrio:high stiffness

centralized controlconputationally intensive

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Transferring methods

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Sony Qrio:high stiffness

centralized controlconputationally intensive

Freitag, 4. Mrz 2011

Transferring methods

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Sony Qrio:high stiffness

centralized controlconputationally intensive

Freitag, 4. Mrz 2011

Transferring methods

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Sony Qrio:high stiffness

centralized controlconputationally intensive

Freitag, 4. Mrz 2011

By comparison: The Passive Dynamic Walker

Design and construction:Ruina, Wisse, Collins: Cornell UniversityIthaca, New York

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The brainless robot:walking without control

Freitag, 4. Mrz 2011

By comparison: The Passive Dynamic Walker

Design and construction:Ruina, Wisse, Collins: Cornell UniversityIthaca, New York

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The brainless robot:walking without control

Freitag, 4. Mrz 2011

By comparison: The Passive Dynamic Walker

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The brainless robot:walking without control

self-stabilization

Design and construction:Ruina, Wisse, Collins: Cornell UniversityIthaca, New York

Freitag, 4. Mrz 2011

By comparison: The Passive Dynamic Walker

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The brainless robot:walking without control

self-stabilization

Design and construction:Ruina, Wisse, Collins: Cornell UniversityIthaca, New York

Freitag, 4. Mrz 2011

Implications of embodimentSelf-stabilization

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Pfeifer et al.,Science,16 Nov. 2007

Passive Dynamic Walker

Freitag, 4. Mrz 2011

Implications of embodimentSelf-stabilization

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Passive Dynamic Walker

Pfeifer et al.,Science,16 Nov. 2007

Freitag, 4. Mrz 2011

Implications of embodimentSelf-stabilization

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Passive Dynamic Walker

self-stabilization

Pfeifer et al.,Science,16 Nov. 2007

Freitag, 4. Mrz 2011

Short question

memory for walking?

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Contrast: Full control hard

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Sony QrioHonda Asimo

Freitag, 4. Mrz 2011

Extending the ecological niche

Design and construction:Martijn Wisse, Delft University

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self-stabilization

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Extending the ecological niche

Design and construction:Martijn Wisse, Delft University

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self-stabilization

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Implications of embodimentSelf-stabilization

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Denise

self-stabilization

Pfeifer et al.,Science,16 Nov. 2007

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Message 3: Task distribution

Task distribution between brain (control), body (morphology, materials), and environment

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morphological computation

Freitag, 4. Mrz 2011

Task distribution between brain (control), body (morphology, materials), and environment

no clear separation between control and hardware (soft robotics)

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morphological computation

Message 3: Task distribution

Freitag, 4. Mrz 2011

Stumpy: task distribution

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self-stabilization

almost brainless: 2 actuated jointsspringy materialssurface properties of feet

Design and construction: Raja Dravid, Chandana Paul, Fumiya Iida

Freitag, 4. Mrz 2011

The dancing robot Stumpy

Collaboration with Louis-Philippe Demers, Nanyang Technological University, Singapore

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Movie:Dynamic Devices and AILab, Zurich

Freitag, 4. Mrz 2011

The dancing robot Stumpy

Collaboration with Louis-Philippe Demers, Nanyang Technological University, Singapore

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Movie:Dynamic Devices and AILab, Zurich

Freitag, 4. Mrz 2011

Outsourcingfunctionality

Mini-rHexDesign and construction:Robin Guldener, Lijin Aryananda

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soft, flexible, elastic materials

Freitag, 4. Mrz 2011

Outsourcin