CMRoboBits: Creating an Intelligent AIBO Robot

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CMRoboBits Creating an Intelligent AIBO Robot

• Instructors Prof. Manuela Veloso Scott Lenser
• TAs Douglas Vail Nick Aiwazian
• Further Support Dr. Paul Rybski, Sonia Chernova
• 15-491, Fall 2003
• http//www.andrew.cmu.edu/course/15-491
• Computer Science Department
• Carnegie Mellon

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Why This New Course?

• Our robot soccer experience
• Long since 1996
• Diversified simulation, small-size, Sony
  4-legged
• Hard work, frustration, fun, struggle, success
• A LOT learned on

Creating teams of complete intelligent robots.
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Legged Robots

• Remarkable hardware - SONY AIBO robots

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Intelligent Complete Robot
Perception
Cognition
Sensors
Actuators
External World
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Autonomy

• Perception
• sensing, modeling of the world
• Cognition
• behaviors, action selection, planning, learning
• multi-robot coordination, teamwork
• response to opponent, multi-agent learning
• Action
• motion, navigation, obstacle avoidance

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Perception Vision

• Real-time and robust
• Effective calibration
• Colored blobs identified as objects
• Confidence computed

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Cognition Behaviors
Recover
not see ball
timeout
Score
Search
not see ball
not see ball
next to ball
Approach
see ball
not next to ball
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Action Motion

• Four-legged walking
• Head motion
• Turning, kicking

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What is This New Course?

• Beyond robot soccer
• CMRoboBits
• From CMPack, break into modular robot bits
• Learn the CMRoboBits within a concrete robot
• AIBO
• Commercially available to the public since
  June02
• Robust hardware, modular software

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The Syllabus

• Sensors
• Basic behaviors
• Motion
• Vision
• Localization
• Complex behaviors
• Multi-robot behaviors

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The Evaluation

• Weekly homeworks
• hands-on lab work with the AIBO robots
• some also include written questions
• One final project
• Homeworks 75
• Final project 25
• Groups of 2 or 3 students each student in the
  group must be fully responsible for each homework

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Resources and Readings

• Readings and videos are available at
  http//www.cs.cmu.edu/coral
• AIBOs are being used widely in RoboCup
  http//www.robocup.org
• The OpenR Web page has a lot of information
  http//openr.aibo.com
• Tekkotsu is a serious effort to build an API for
  the AIBOs http//www.cs.cmu.edu/tekkotsu