Robotics & AI

Robot motion planning has traditionally been used to avoid collisions when moving a robot arm. Avoiding collisions is important, but many other desirable criteria are often ignored. For example, motions that minimize energy will let the robot extend its battery life. Smoother trajectories may cause less wear on motors and can be more aesthetically appealing. There may be even more useful criteria, like keeping a glass of water upright when moving it around. This summer, Mrinal Kalakrishnan from the Computational Learning and Motor Control Lab at USC worked on a new motion planner called STOMP, which stands for "Stochastic Trajectory Optimization for Motion Planning". This planner can plan paths for high-dimensional robotic systems that are collision-free, smooth, and can simultaneously satisfy task constraints, minimize energy consumption, or optimize other arbitrary criteria. STOMP is derived from gradient-free optimization and path integral reinforcement learning techniques (Policy Improvement with Path Integrals, Theodorou et al, 2010).

This is a site for all things about amateur Unmanned Aerial Vehicles (UAVs). Use the tabs and drop-down menus above to navigate the site. These are our Arduino-based open source autopilot projects: * ArduPilot, a low-cost autopilot system for planes. * ArduCopter, a fully-autonomous quadcopter system (heli autopilot coming soon). * BlimpDuino, an autonomous blimp with both infrared and ultrasonic guidance.

EARL (that would be, Enhanced Automated Robotic Launcher) is a second generation bowling robot. Let me explain to you why a bowling robot is necessary at all: apparently, EARL is “invaluable in the many studies necessary to keep up with the ever-changing bowling ball industry… [EARL is] the future of bowling research.” Hmm. That’s worth pondering for a minute or two. Well, I won’t pretend to understand it, but that doesn’t mean I’m not impressed with the fact that EARL can throw bowling balls at 24 MPH and spin them up at 900 RPM, much faster than a human is capable of, which I guess is why people seemed to assume that the robot would win… Does it say something about the state of robotics, or something about the sport? Either way, bowling seems like a game with an extremely limited amount of random variables, and sooner or later (probably sooner) the only thing worthy of a news story will be a robot arm not bowling a perfect 300.

Cooking is an art sometimes forgotten in the robotics world, but James, the PR2 robot, and Rosie, another robot from CoTeSys (Cognition for Technical Systems) in Munich have joined forces to show that robots can be of great use in the kitchen as well. They made some pretty successful-looking pancakes and used various tools around the Assisted Kitchen to show off their skills. The main chef in the experiment was Rosie, who used her broad arms and high levels of dexterity to flip and cook the pancakes. As you can see in the video, she is a bit on the slow side, but she’s also extra careful and gets it done right. She is capable of adjusting the way she pours the batter based on the weight of the bowl, demonstrating some impressive planning and a good use of her sensors, which allow the bot to recognize how much batter she has already poured.

Events such as natural disasters, military actions, and public safety threats have led to an increased need for robust robots — especially ones that can travel across complex terrain in any dimension. The ability to scale vertical building surfaces or other structures offers unique capabilities in military applications such as urban reconnaissance, sensor deployment, and setting up urban network nodes. SRI's novel clamping technology, called compliant electroadhesion, has enabled the first application of this technology to wall-climbing robots that can help with these situations.  As the name implies, electroadhesion is an electrically controllable adhesion technology. It involves inducing electrostatic charges on a wall substrate using a power supply connected to compliant pads situated on the moving robot. SRI has demonstrated robust clamping to common building materials including glass, wood, metal, concrete, etc. with clamping pressures in the range of 0.5 to 1.5 N per square cm of clamp (0.8 to 2.3 pounds per square inch). The technology works on conductive and non-conductive substrates, smooth or rough materials, and through dust and debris. Unlike conventional adhesives or dry adhesives, the electroadhesion can be modulated or turned off for mobility or cleaning. The technology uses a very small amount of power (on the order of 20 microwatts/Newton weight held) and shows the ability to repeatably clamp to wall substrates that are heavily covered in dust or other debris.

Bipedal humanoid robots can step over obstacles and negotiate stairs where their wheeled counterparts cannot, but this comes with the risk of falling down.  Naturally, humanoid robots will never be accepted in society if they break when they fall down.  The bigger the robot, the more likely it is that it will damage itself during a fall and be unable to get up. In 2003 the HRP-2P was the first full-scale humanoid that could fall over safely and get back up, and so far remains alone; not even Honda’s ASIMO can do this.  As soon as it detected that it was falling, the HRP-2P would bend its knees and back, which helped to reduce the ground impact.  This motion, called “UKEMI”, is quite similar to how the SONY QRIO would react when falling over to reduce the risk of damaging its components.

Developed by Japan’s National Agriculture and Food Research Organization and other local institutions, the robot may sound boring (when compared to humanoids, for example), but it’s actually pretty cool. The main bullet points are that it automatically detects how ripe the strawberries are (which fruit is ready for harvesting) and that it cuts the stalks without damaging the strawberries.

In this project we want to analyze and test the idea of incorporating a network of robots (robots, intelligent sensors, devices and communications) in order to improve life quality in urban areas. The URUS project is focused in designing a network of robots that in a cooperative way interact with human beings and the environment for tasks of assistance, transportation of goods, and surveillance in urban areas. Specifically, our objective is to design and develop a cognitive network robot architecture that integrates cooperating urban robots, intelligent sensors, intelligent devices and communications.

If you're a long time reader, you may remember our mention in 2008 of Emanuel Diamant's provocatively titled paper "I'm sorry to say, but your understanding of image processing fundamentals is absolutely wrong" (PDF). Diamant is back with a presentation created for the 3rd Israeli Conference on Robotics, with the equally provocative title: "It's Cognitive Robotics, Stupid" (PDF). In it he laments the lack of agreed upon definitions for words like intelligence, knowledge, and information that are crucial to the development of robotics.

Taylor Veltrop used a Kinect to read his arm movements which were then carried out by a robot. The robot was programmed using Willow Garage's open-source robot operating system (ROS). As Kit Eaton suggest, this quick experiment provides an illustration of the path towards robotic avatars.

With all of the new competition in the consumer robotics field, it’s about time for iRobot to show that they’re still capable of innovating new and exciting things. AVA, their technology demonstrator, definitely fits into the new and exciting category. AVA is short for ‘Avatar,’ although iRobot was careful not to call it a telepresence robot so as not to restrict perceptions of what it’s capable of. AVA is capable of fully autonomous navigation, relying on a Kinect-style depth sensing camera, laser rangefinders, inertial movement sensors, ultrasonic sensors, and (as a last resort) bump sensors. We got a run-down a few days ago at CES, check it out:

German researchers have built an anthropomorphic robot hand that can endure collisions with hard objects and even strikes from a hammer without breaking into pieces. In designing the new hand system, researchers at the Institute of Robotics and Mechatronics, part of the German Aerospace Center (DLR), focused on robustness. They may have just built the toughest robot hand yet. The DLR hand has the shape and size of a human hand, with five articulated fingers powered by a web of 38 tendons, each connected to an individual motor on the forearm.

In recent years, ‘social’ robots—cleaning robots, nursing-care robots, robot pets and the like—have started to penetrate into people’s everyday lives. Saerbeck and other robotics researchers are now scrambling to develop more sophisticated robotic capabilities that can reduce the ‘strangeness’ of robot interaction. “When robots come to live in a human space, we need to take care of many more things than for manufacturing robots installed on the factory floor,” says Haizhou Li, head of the Human Language Technology Department at the A*STAR Institute for Infocomm Research. “Everything from design to the cognitive process needs to be considered.”

In the 1970s the CIA had developed a miniature listening device that needed a delivery system, so the agency’s scientists looked at building a bumblebee to carry it. They found, however, that the bumblebee was erratic in flight, so the idea was scrapped. An amateur entymologist on the project then suggested a dragonfly and a prototype was built that became the first flight of an insect-sized machine. A laser beam steered the dragonfly and a watchmaker on the project crafted a miniature oscillating engine so the wings beat, and the fuel bladder carried liquid propellant. Despite such ingenuity, the project team lost control over the dragonfly in even a gentle wind. “You watch them in nature, they’ll catch a breeze and ride with it. We, of course, needed it to fly to a target. So they were never deployed operationally, but this is a one-of-a-kind piece.”

Robots might one day trace the origin of their consciousness to recent experiments aimed at instilling them with the ability to reflect on their own thinking. Although granting machines self-awareness might seem more like the stuff of science fiction than science, there are solid practical reasons for doing so, explains roboticist Hod Lipson at Cornell University's Computational Synthesis Laboratory.

Until now you can have big elaborate robots or very small microbots but it is very difficult to have both. A blog post from New Scientist (where this video is from) points out the research on microbots, very small machines that will move, navigate and perform simple tasks. The ability to remotely power a microbot, thus eliminating the need for onboard battery or fuel, is already proven and one of the methods is the application of an AC field to a liquid where the robot is located. This microbot is essentially a diode, a one-way electric conductor. The different electric charges at its ends force the neighboring ions to move thus creating a small thrust that propels the bot. The team of Rachita Sharma and Orlin Velev from North Carolina State University developed a method where a controlled application of an additional DC field changes the ion distribution around the microbot and this time the ion field creates a torque that rotates the microbot. The DC field is applied until the completion of a 180-degree turn. Then the microbot moves again, now in the opposite direction. It is only 1.3mm long and as claimed by other scientists like Vesselin Paunov from the University of Hull, UK this arrangement can be further scaled down where it can be useful for diagnostic and localized drug supply applications.

Tiny microbots swimming through liquid invariably conjures up images of Isaac Asimov's sci-fi classic Fantastic Voyage.But while microbots exist, and they can be made to swim, it's getting them to change direction that has been tricky so far - a bit of an issue if you're even planning on sticking them in a human body, for instance.Now a system used to propel swimming microbots without the need for on-board fuel has brought this idea one step closer. Researchers at North Carolina State University have coaxed their bots to perform U-turns on command.

The Special Project for Earthquake Disaster Mitigation in Urban Areas (2002-2006) conducted by the Earthquake Research Institute at the University of Tokyo. The project revealed the detailed geometry of the subducted Philippine Sea plate (PSP) beneath the Tokyo Metropolitan area and improved information needed for seismic hazards analyses of the largest urban centers. In 2007 the Special Project for Earthquake Disaster Mitigation in Tokyo Metropolitan Area started focusing at  the vertical proximity of the PSP down going lithospheric plate and the risks for the greater Tokyo urban region that has a population of 42 million and is the center of approximately 40 % of the nation's activities. A M 7 or greater (M 7+) earthquake in this region at present has high potential to produce devastating loss of life and property with even greater global economic repercussions. The Central Disaster Management Council of Japan estimated that a great earthquake in the region might cause 11,000 fatalities and 112 trillion yen (1 trillion US$) economic loss. The Earthquake Research Committee of Japan estimated a probability of 70 % in 30 years for a great earthquake in this region. 

aims at developing swarms of flying robots that can be deployed in disaster areas to rapidly create communication networks for rescuers. Flying robots are interesting for such applications because they are fast, can easily overcome difficult terrain, and benefit from line-of-sight communication.

Instead of calling CrazyFlie (as it's known) a tiny quadcopter, it might be more accurate to just describe it as a PCB that happens to also be able to launch itself into the air. Measuring a scant 10 centimeters per side, CrazyFlie uses its PCB as a primary structural component, which helps keep the size and weight to a minimum... In total, we're talking about only 20 grams. Despite its tinyness, the quadcopter includes a charging port, radio, 3-axis accelerometer, two gyroscopes, and a lightweight 110 mAh LiPO battery that gives it about four and a half minutes of flying time: