This technical seminar covers behavior-based robotics and its applications. It begins with definitions of robots, robotics, and behavior-based robotics. It describes how behavior is expressed through stimulus-response diagrams and finite state machines. Behavior-based architectures like subsumption architecture and motor schemas are explained. The history of robotics is reviewed from mechanical robots to present-day humanoids. Applications include entertainment, exploration, medical assistants, transportation, and more. Key issues discussed are grounding in reality, situatedness, embodiment, emergent behavior, and scalability.

1. TECHNICAL SEMINAR
ON

2. Outline
 Definition of robots, robotics, behavior-based robotics
 Expression of behavior robots
 Behavior-based architectures
 History of robotics
 Applications
 Key issues

3. What is a Robot?
 Generally, it is a machine that
functions in place of a living agent
 "an automatic device that performs
functions normally ascribed to
humans or a machine in the form of
a human."

4. Robotics??
 Refers to study and use of robots.
 It’s a multi-disciplinary field.
 Best robotics researchers and
engineers will touch upon all disciplines:
 Mechanical engineering
 Electrical engineering
 Computer Science
 Computer science is concerned primarily with:
 Robot Programming
 Perception
 Intelligent behavior

5. Behavior-based Robotics??
 Behavior is what an external
observer sees a robot doing.
 Robots are programmed to
display desired behavior.
 Behavior is a result of a
sequence of robot actions.
 Observing behavior may not
tell us much about the
internal control of a robot.
 Control can be a black box.

6. Behavior-based Robotics??
(cont.)
 An intelligent robot is a machine able
to extract information from its
environment and use knowledge
about its world to move safely in a
meaningful and purposive manner.

7. Expressions of Behaviors
Stimulus
Behavior
 Stimulus-response (SR)
diagrams
 Functional notation
b(s) = r
 Finite state acceptor (FSA)
diagrams
Response

8. Types of State
 External state: state of the world
 Sensed using the robot’s sensors
 E.g.: night, day, at-home, sleeping, sunny
 Internal state: state of the robot
 Sensed using internal sensors
 Stored/remembered
 E.g.: velocity, mood
 The robot’s state is a combination of its
external and internal state.

9. State and Intelligence
 State space: all possible states the
system can be in
 A challenge: sensors do not provide
state!
 How intelligent a robot appears is
strongly dependent on how much it can
sense about its environment and about
itself.

10. Expressions of Behaviors
(cont)
 A Navigational Example
Consider a student going from one
classroom to another. The following
kinds of things are involved.
• Getting to the destination from
current location
• Not bumping into anything along the
way
• Skillfully negotiating the way around
other students
• Observing cultural customs
• Coping with change and doing
whatever else is necessary

11. Behavior-Based Architectures
 Definition
Robot architecture is the discipline devoted to the
design of highly specific and individual robots
from a collection of common software building
blocks.

12. Behavior-Based Architectures
(cont)
 Evaluation Criteria
• Supporting for parallelism
• Hardware targetability
• Support for modularity
• Robustness
• Timeliness in development
• Run time flexibility
• Performance effectiveness

13. Behavior-Based Architectures
(cont)
 A foraging example
The tasks consists of a robot’s moving away from a
home base area looking for attractor objects.
• Wander
• Acquire
• Retrieve

14. Behavior-Based Architectures
(cont)
 Subsumption architecture (Brooks)
•
AFSM model
•
It is a layered architecture that uses-

arbitration strategies and
 AFSM as its basis.
•
Coordination: Inhibition and suppression
•
Pros
 Hardware retarget ability
 Support for parallelism
•
Cons
 Run time flexibility
 Support for modularity

15. Behavior-Based Architectures
(cont)
 Motor schemas (Arkin)
• A schema is the basic unit
of behavior from which
complex actions can be
constructed; it consists of
the knowledge of how to act
or perceive as well as the
computational process by
which it is enacted.
• Motor schemas are a
software-oriented dynamic
reactive architecture that is
non-layered and
cooperative.

16. History of Robots

17. Classic
Purely mechanical machines. E.g. clock
tower, AL jazari’s musical robot etc.
Many machines that were capable of drawing, acting,
flying, playing music etc. E.g. eating duck.,
mechanical calculators.
Automation lead to programable machines. E.g.
Radio controlled boat.
Development of algorithms and
mathematical calculations; computer
science field arose.

18. G. Walter Grey's tortoise
These vehicles had
a light sensor,
touch sensor,
propulsion motor,
steering motor, and
a two vacuum tube
analog computer.

19.  Walter applied cybernetics principles to
robot design called “machine
speculatrix”, which became a robotic
tortoise.
 The simple principles involved are:
 Parsimony : simple is better.
 Exploration or speculation.
 Attraction.
 Aversion
 Discernment.

20. Middleware
HONDA developed its first
humanoid;
1981 to 1990
First industrial robot
was build by German
known as Famulus
1971 to 1980
Lunokhod 1, the
first moving remote
controlled robot
landed on moon
Bipolar transistor
discovered; first
comp game
beaten human in
chess; coined the
term ‘Artificial
Intelligence
1961 to 1970
1951 to 1960

22. Lunokhod 1

23. UNIMATE robot
First industrial
robot, that
Began to work at
general motor

24. KUKA- example of
industrial robot
They can load,
unload,
flame-machine,
laser, weld,
bond, assemble,
inspect, and
sort.

25. IBM 7535
 IBM 7535
Manufacturing
System
provided it
advanced
programming
functions,
including data
communication
s,
programmable
speed.

26. Cog – MIT AI Lab
Cog is a humanoid
robot. It has a torso,
arms and a head but
no legs. Cog's torso
does not have a spine
but it can bend at the
waist from side-toside and from frontto-back and can twist
its torso the same way
a person can. Cog's
arms also move in a
natural way.

27. Snake-like robot
A. Hirose (Tokyo IT)

28. Snake (MIT) and Swimming (Eel)
Robot (UHK)

29. LEGO Mindstorms

30. Present Era
2010 to Present
2001 to 2010
1991 to 2000
Honda revealed the
most advanced
humanoid robot
ASIMO i.e. capable of
running, walking,
communication with
humans, facial and
environment
recognition, voice and
posture recognition
and interact with
environment.
This era experienced
highly advance
robotics like iRobot
humanoid which had
more enhanced
feature than ASIMO,
Unmanned Aerial
Vehicle Global Hawk,
etc.
Robonaut 2, the latest
generation robot
called “The space
walker”.
Google’s robotic
vehicles “The self
driving car” is the
latest development in
History of Robotics.

31. Asimo
Honda announced the
development of new
technologies for the
next-generation
ASIMO humanoid
robot, targeting a
new level of mobility.


32. Unmanned Vehicles

33. Robonaut 2
oUses space
tools.
oWorks in similar
environments
suited to
astronauts.
o Very sensible.
oEssential to
NASA’s future.

34. Wheelesley: Development of a
Robotic Wheelchair System
 Wheelesley, consists of
an electric wheelchair
outfitted with a
 computer and sensors
and a Macintosh
Powerbook that is used
 for the user interface

35. The Robot Dog Aibo
Artificial Intelligence roBOt
intelligent life form.
Good Boy! Aibo
"Good Boy!" Sony’s AIBO could learn
whatever name you give your AIBO.
With built-in voice recognition, AIBO
could learn up to fifty words (later Aibo
models could do one thousand words)
and talk back to you in a special AIBO
tonal language. You command your
pet to follow orders including "take a
picture." AIBO has a built in camera.
That is something your real life pet
cannot do.

36. Suvelliance Humanoid Robot
NUVO
 Equipped with
survelliance
camera at head
and owner could
monitor the
footage through
mobile phone

37. Anthropomorphic Robots

38. Applications
Entertainment
Explorations
Humanoids
Assistants,
In Medical
Educational
Transport

39. Key Issues
 Grounding in reality: not just
planning in an abstract world
 Situatedness (ecological
dynamics): tight connection with
the environment
 Embodiment: having a body
 Emergent behavior: interaction
with the environment
 Scalability: increasing task and
environment complexity

41. Questions??