Robotics Sensing, Actuation, Control

Overview of Robotics: Sensing, Actuation, and Control

• A robot consists of a body, sensors for perception, effectors for action, and a control mechanism for behavior.

• The body of a robot can be mechanomorphic, zoomorphic, or anthropomorphic, and can be made of hard or soft materials.

• Degrees of Freedom (DoF) refer to the number of independent parameters that define the configuration of a body, with a rigid object in 3D space having six DoF.

• Sensors in robotics can be cameras, microphones, infrared, ultrasound, LIDAR, compass, gyroscope, GPS, and more.

• Percepts can be low-level (such as light level, color, sound, temperature, proximity, contact, texture, smell, tilt, position, acceleration, voltage, current) or high-level (such as objects, people, scenes, or abstract intentions and meanings).

• Effectors in robotics generate movement, light, sound, and can be used for locomotion, manipulation, or signaling.

• Interaction in robotics involves simultaneous sensing and actuation, including interaction with the environment, other agents, and itself.

• Control in robotics is the source of intelligence and behavior, with approaches including reasoning, planning, learning, perceiving, and doing.

• Cybernetics, the study of control and communication in animals and machines, has influenced the development of robotics.

• Behaviour-Based Robotics (BBR) emphasizes simple living examples of intelligence and a reactive approach, throwing out modelling and planning.

• Layered subsumption architecture is a BBR approach with a focus on robustness in the presence of noisy or failing sensors.

• The world is its own best model, and simplicity and robustness are virtues in robotics design.Introduction to Robotics and Control

• The lecture covers the components of a robot, including body, sensing, actuation, interaction, and control.

• Cybernetics is the study of communication and control in machines and living organisms.

• GOFAI (Good Old-Fashioned Artificial Intelligence) robotics is based on symbolic reasoning and logical rules.

• Sense-Plan-Act is a control architecture that involves perceiving the environment, planning a course of action, and executing it.

• Braitenberg's "vehicles" are simple robots that exhibit complex behaviors based on their sensor-motor connections.

• Behavior-based robotics emphasizes the importance of emergent behavior and decentralized control.

• Deliberative control involves planning and reasoning about actions before executing them.

• Reactive control involves reacting to sensory inputs without explicit planning or reasoning.

• Subsumption architecture is a type of reactive control that involves layering behaviors and allowing higher-level behaviors to interrupt lower-level ones.

• The lecture ends with a call for questions and discussion on the lecture forum.

• The next lecture will cover autonomous systems.

• The slides are copyrighted by the University of Sheffield.

Overview of Robotics: Sensing, Actuation, and Control

• A robot consists of a body, sensors for perception, effectors for action, and a control mechanism for behavior.

• The body of a robot can be mechanomorphic, zoomorphic, or anthropomorphic, and can be made of hard or soft materials.

• Degrees of Freedom (DoF) refer to the number of independent parameters that define the configuration of a body, with a rigid object in 3D space having six DoF.

• Sensors in robotics can be cameras, microphones, infrared, ultrasound, LIDAR, compass, gyroscope, GPS, and more.

• Percepts can be low-level (such as light level, color, sound, temperature, proximity, contact, texture, smell, tilt, position, acceleration, voltage, current) or high-level (such as objects, people, scenes, or abstract intentions and meanings).

• Effectors in robotics generate movement, light, sound, and can be used for locomotion, manipulation, or signaling.

• Interaction in robotics involves simultaneous sensing and actuation, including interaction with the environment, other agents, and itself.

• Control in robotics is the source of intelligence and behavior, with approaches including reasoning, planning, learning, perceiving, and doing.

• Cybernetics, the study of control and communication in animals and machines, has influenced the development of robotics.

• Behaviour-Based Robotics (BBR) emphasizes simple living examples of intelligence and a reactive approach, throwing out modelling and planning.

• Layered subsumption architecture is a BBR approach with a focus on robustness in the presence of noisy or failing sensors.

• The world is its own best model, and simplicity and robustness are virtues in robotics design.Introduction to Robotics and Control

• The lecture covers the components of a robot, including body, sensing, actuation, interaction, and control.

• Cybernetics is the study of communication and control in machines and living organisms.

• GOFAI (Good Old-Fashioned Artificial Intelligence) robotics is based on symbolic reasoning and logical rules.

• Sense-Plan-Act is a control architecture that involves perceiving the environment, planning a course of action, and executing it.

• Braitenberg's "vehicles" are simple robots that exhibit complex behaviors based on their sensor-motor connections.

• Behavior-based robotics emphasizes the importance of emergent behavior and decentralized control.

• Deliberative control involves planning and reasoning about actions before executing them.

• Reactive control involves reacting to sensory inputs without explicit planning or reasoning.

• Subsumption architecture is a type of reactive control that involves layering behaviors and allowing higher-level behaviors to interrupt lower-level ones.

• The lecture ends with a call for questions and discussion on the lecture forum.

• The next lecture will cover autonomous systems.

• The slides are copyrighted by the University of Sheffield.

Overview of Robotics: Sensing, Actuation, and Control

• A robot consists of a body, sensors for perception, effectors for action, and a control mechanism for behavior.

• The body of a robot can be mechanomorphic, zoomorphic, or anthropomorphic, and can be made of hard or soft materials.

• Degrees of Freedom (DoF) refer to the number of independent parameters that define the configuration of a body, with a rigid object in 3D space having six DoF.

• Sensors in robotics can be cameras, microphones, infrared, ultrasound, LIDAR, compass, gyroscope, GPS, and more.

• Percepts can be low-level (such as light level, color, sound, temperature, proximity, contact, texture, smell, tilt, position, acceleration, voltage, current) or high-level (such as objects, people, scenes, or abstract intentions and meanings).

• Effectors in robotics generate movement, light, sound, and can be used for locomotion, manipulation, or signaling.

• Interaction in robotics involves simultaneous sensing and actuation, including interaction with the environment, other agents, and itself.

• Control in robotics is the source of intelligence and behavior, with approaches including reasoning, planning, learning, perceiving, and doing.

• Cybernetics, the study of control and communication in animals and machines, has influenced the development of robotics.

• Behaviour-Based Robotics (BBR) emphasizes simple living examples of intelligence and a reactive approach, throwing out modelling and planning.

• Layered subsumption architecture is a BBR approach with a focus on robustness in the presence of noisy or failing sensors.

• The world is its own best model, and simplicity and robustness are virtues in robotics design.Introduction to Robotics and Control

• The lecture covers the components of a robot, including body, sensing, actuation, interaction, and control.

• Cybernetics is the study of communication and control in machines and living organisms.

• GOFAI (Good Old-Fashioned Artificial Intelligence) robotics is based on symbolic reasoning and logical rules.

• Sense-Plan-Act is a control architecture that involves perceiving the environment, planning a course of action, and executing it.

• Braitenberg's "vehicles" are simple robots that exhibit complex behaviors based on their sensor-motor connections.

• Behavior-based robotics emphasizes the importance of emergent behavior and decentralized control.

• Deliberative control involves planning and reasoning about actions before executing them.

• Reactive control involves reacting to sensory inputs without explicit planning or reasoning.

• Subsumption architecture is a type of reactive control that involves layering behaviors and allowing higher-level behaviors to interrupt lower-level ones.

• The lecture ends with a call for questions and discussion on the lecture forum.

• The next lecture will cover autonomous systems.

• The slides are copyrighted by the University of Sheffield.