1. Robotics

2. Why Robotics? Practice Promise

3. Why Robotics? Vibrant field

4. Why Robotics? A window to the soul... Advances in AI and in Robotics are one and the same thing.

5. What is a robot?

6. Battlescar the BattleBot Ripley’s Exoskeleton Al Gore USC helicopter Rug Warrior Self-guiding golf cart MOVIT line follower Sea- man

7. categorizing robots Abstraction Autonomy hard ware softw are just is human-controlled independent

8. categorizing robots Abstraction Autonomy hard ware softw are just is human-controlled independent

9. What is robotics? Autonomous : Robot :: ________ : Mudder Robot a physical system that autonomously senses the environment and acts in it. Sleeping Unicycling Overworked

10. Robot timeline... 1921

11. Robot timeline... 19211950 Karl Capek I, Robot First Law: A robot may not injure a human being, or, through inaction, allow a human being to come to harm. Second Law: A robot must obey orders given it by human beings, except where such orders would conflict with the First Law. Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. Isaac Asimov’s Laws of Robotics

12. Robot timeline... 19212020 Karl Capek 1950 I, Robot

13. Robot timeline... 192121502020 Karl Capek Dalek 1950 I, Robot

14. Robot timeline... 1921242121502020 Karl Capek Dalek 1950 I, Robot

15. Real robot timeline... 1951 “Tortoise”

16. Shakey Nils Nilsson @ Stanford Research Inst.... 1968 first “general-purpose” mobile platform

17. Shakey Nils Nilsson @ Stanford Research Inst.... 1968 first “general-purpose” mobile platform Living Room (L) tvg sp Kitchen (K) Bedroom (B) sh tv

18. Go(x,y) Preconditions: At(sh,x) Postconditions: At(sh,y) Push(obj,x,y) Preconditions: At(sh,x)  At(obj,x) Postconditions: At(sh,y)  At(obj,y) Shakey Start START GOAL ACTIONS Go(L,B) Go(L,K) At(sh,L)  At(sp,K)  At(tvg,B)  At(tv,L) Push(tv,L,B) Push(tv,L,K) At(sh,K)  At(sp,K)  At(tvg,B)  At(tv,K) At(sh,L)  At(sp,L)  At(tvg,L)  At(tv,L)

19. Stanford Cart Hans Moravec @ SAIL... 1976 SENSING ACTING perception world modeling planning task execution motor control “functional” task decomposition

20. Cartland

21. Insects Rodney Brooks @ MIT... 1985 avoid objects wander explore build maps identify objects planning and reasoning SENSING ACTING “behavioral” task decomposition

22. Subsumption Architecture runaway behavior FSM / DFA

23. Subsumption Architecture runaway behavior wander behavior FSM / DFA

24. Subsumption Architecture runaway behavior wander behavior navigate behavior FSM / DFA

25. Subsumption Architecture Genghis in action!

26. Beyond subsumption... 1995 Polly Navlab & ALVINN