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Flashcards do conjunto (7)
- 1RobotA robot is an autonomous system which exists in the physical world, can sense its environment, and can act on it to achieve some goals.
- 2Grey Walter's tortoiseTortoise is typically considered to be the first robot. The tortoise or turtles where built with three wheels in a tricycle-like design, using the front wheel for steering and the two back wheels for driving. It consisted of: One photocell (a sensor that detects light levels), one bump sensor (a sensor that detects contact with objects), one rechargeable battery, three motors (one for each wheel), three wheel and one analog electronic circuit (serving as the brain and connecting the two sensors with the wheels). These components led to the following behaviors: find the light, head toward the light, back away form bright light and turn and push to avoid obstacles.
- 3Braitenberg's vehiclesone can design simple robots and get them to produce behaviors that appear very animal-like and life-lie. The vehicles started out with a single moto and single light sensor and gradually progressed. A light sensor could be connected directly to the wheels, so the stronger the light the faster the robot moved. This is called photophilic (loving light). In some vehicles the connection was inverted, so that the stronger the light, the slower the robot would move (photophobic).
Excitatory connection: a stronger sensory input results in a strong motor output. Conversely, a stronger sensory input results in a weaker motor output is called a inhibitory connection. - 4Chapter 2 begrippenControl theory: is the mathematical study of properties of automated control systems. It is one of the foundations of engineering; it studies a vast variety of mechanical systems.
Cybernetics: studies biological systems from the level of neurons to the level of behavior, and tried to implement similar principals in simple robots.
Biomimetic: machines with properties similar to those of biological systems, meaning that they imitate biological systems in some way.
Reactive control: controlling robots using a collection of prioritized reflexes.
Artificial life: focusses on computational, not physical systems that exists within a computer, not the real world. - 5Intelligent machines need• Internal models of the world
• Search through possible solutions
• Planning and reasoning to solve problems
• Symbolic representation of information
• Hierarchical system organization
• Sequential program execution - 6AI-inspired robots• Shakey: Uses contact sensors and a camera. It lived in a indoor world consisting of a flat white floor and some large black objects. It created plans for which way to move in that special world.
• HILARE: used a video camera, ultrasound sensors, and a laser rangefinder. Was a very long-lived robot.
• Cart: focused on vision sensors and in particular on how to use vision to move the robot around, which is called vision-baes robot navigation. It was slow-thinking, because of the difficulty of processing data from vision cameras.
• Rover: used a camera and ultrasound sensing for navigating. - 7Types of controlThe current approaches to robot control, including reactive control, hybrid control and behavior-baes control, emerged from the influences of lessons learned from control theory (the mathematics of controlling machines), cybernetics (the integration of sensing, action and environment) and AI ( the mechanisms for planning an reasoning).
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- Robotics FlashCards sobre college1, criado por Fred Boermans em 13-01-2018.
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- Fred Boermans
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