(精选)【机器人系列】Smart Home Technologies教学课件.pptVIP

Smart Home Technologies;Motivation;Automation and Robotics in Intelligent Environments;Robots;A Brief History of Robotics;Robots;Robots;Autonomous Robots;Robots for Intelligent Environments;Autonomous Robot Control;Forward kinematics describes how the robots joint angle configurations translate to locations in the world Inverse kinematics computes the joint angle configuration necessary to reach a particular point in space. Jacobians calculate how the speed and configuration of the actuators translate into velocity of the robot;In mobile robots the same configuration in terms of joint angles does not identify a unique location To keep track of the robot it is necessary to incrementally update the location (this process is called odometry or dead reckoning) Example: A differential drive robot ;Actuator Control;Robot Navigation;Sensor-Driven Robot Control;Robot Sensors;Robot Sensors;Computer Vision provides robots with the capability to passively observe the environment Stereo vision systems provide complete location information using triangulation However, computer vision is very complex Correspondence problem makes stereo vision even more difficult ;Uncertainty in Robot Systems;Probabilistic Robot Localization;Deliberative Robot Control Architectures;Deliberative Control Architectures;Behavior-BasedRobot Control Architectures;Behavior-BasedRobot Control Architectures;Complex behavior can be achieved using very simple control mechanisms Braitenberg vehicles: differential drive mobile robots with two light sensors Complex external behavior does not necessarily require a complex reasoning mechanism;Behavior-Based Architectures: Subsumption Example;Subsumption Example;Reactive, Behavior-Based Control Architectures;Hybrid Control Architectures;Hybrid Control Policies;Example Task: Changing a Light Bulb;Hybrid Control Architectures;Traditional Human-Robot Interface: Teleoperation;Human-Robot Interaction in Intelligent Environments;Example: Minerva the Tour Guide R