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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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Freitag, 4. Mrz 2011
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
Freitag, 4. Mrz 2011
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
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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
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
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
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Extending the ecological niche
Design and construction:Martijn Wisse, Delft University
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self-stabilization
Freitag, 4. Mrz 2011
Extending the ecological niche
Design and construction:Martijn Wisse, Delft University
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self-stabilization
Freitag, 4. Mrz 2011
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
