PlayerStage A Unifying Paradigm to Improve Robotics playerstage统一范式来提高机器人.pptVIP

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2018-04-12 发布于江西
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PlayerStage A Unifying Paradigm to Improve Robotics playerstage统一范式来提高机器人.ppt

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PlayerStage A Unifying Paradigm to Improve Robotics playerstage统一范式来提高机器人.ppt

/ Player/Stage: A Unifying Paradigm to ImproveRobotics Education Delivery Monica Anderson, Laurence Thaete, Nathan Wiegand The University of Alabama Learning to program robots Novice student issues Long learning curve Hardware access “Murphy’s law” Research student issues Porting simulations to hardware Different hardware programming paradigms Opportunity Use simulation to teach concepts Leverage layering to create a client API that is viable in both simulation and on actual hardware Use lower cost platforms to increase accessibility Our Approach Provide abstraction and simulation via Player/Stage Use multiple platforms with different strengths Introduce concepts in a controlled manner Player/Stage Robot control and simulation software [Gerkey01] Open source (easily modified and extended) Supports iCreate roombas Pioneers Khepera Others… Player Abstracts specific hardware into general control by interpreting client requests into hardware specific commands Stage/Gazebo Simulation component for algorithm testing Clients ported to hardware with some “tweaking” Research Platform K-Team Koala x86 500Mhz controller Proximity sensor ring High fidelity odometry 802.11 networking for off-board control and peer communications Low-cost Education Platform iRobot iCreate (roomba) - (approx $500) Interfaced with Gumstix SBC Lower fidelity odometry and sensors 802.11 networking for off-board control and communications Logistics Player/Stage available on virtual Linux machine Simulation assignments completed individually Teams of three students on hardware assignments Hardware included 5 Koala robots and 10 roomba robots Curriculum Introduce motor control and sensors iteratively in increasing detail over semester Use simulation with and without error coefficients Include self-paced hardware workshops during class time (Students are encouraged to help each other) Move to hardware-based assignments at about 8 weeks Student Projects Student designed projects to foster creativ