November 17, 2009.ppt

Introduction to Cognitive Science Lecture 19: Robotics November 17, 2009 Introduction to Cognitive Science Lecture 19: Robotics * Robotics environment agent ? sensors effectors Robots have physical sensors and effectors. November 17, 2009 Introduction to Cognitive Science Lecture 19: Robotics * Sensors Sensors that tell the robot position/change of joints: odometers, speedometers, etc. Force sensing. Enables compliant motion--robot just maintains contact with object. Sonar. Send out sound waves and measure how long it takes for it to be reflected back. Good for obstacle avoidance. Vision systems November 17, 2009 Introduction to Cognitive Science Lecture 19: Robotics * Effectors Converts software commands into physical motion Typically electrical motors or hydraulic/pneumatic cylinders Two main types of effectors: locomotion manipulation November 17, 2009 Introduction to Cognitive Science Lecture 19: Robotics * Locomotion Legs traditional (human-like) Other types Statically stable locomotion: can pause at any stage during its gate without falling Dynamically stable locomotion: stable only as long as it keeps moving (e.g., jumping) Wheeled locomotion is still most practical for typical environments Other methods: fish robots, snake-like robots. November 17, 2009 Introduction to Cognitive Science Lecture 19: Robotics * Manipulation Manipulation of objects Typical manipulators allow for: Prismatic motion (linear movement) Rotary motion (around a fixed hub) Robot hands go from complex anthromorphic models to simpler ones that are just graspers November 17, 2009 Introduction to Cognitive Science Lecture 19: Robotics * Robots for Surgery Q: Why use robots? A: Robots have several surgical advantages over people! High geometric accuracy Stable and untiring Wide range of scales May be sterilized Resistant to rad