HY-590.

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tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris

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, 21 2004
 What is the courses goal?

Understand
how to achieve a desired behavior
for a robot or group of robots.
the nature and emergence of intelligence.
why it may be beneficial to look
to biology, psychology, neuroscience
for possible solutions.

Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH

tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris
 What is the problem?

Usually there are many mechanical,

perceptual and control setups
which achieve our goals.
z Which one is the best?
z One must be aware of as many potential
solutions as possible.
z But: the best may also be the simplest
(in some appropriate sense).

Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH

tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris
 What is Biomimetic Robotics?

Biology, psychology, neuroscience

may provide clues to robotics. E.g.:
z 1950s: Grey Walters tortoises:
mechanical plausibility of animal tropism.
(Tropism/taxis: animal movement directed by stimuli,
positively or negatively.
E.g. chemotaxis, geotaxis, phototaxis, phonotaxis).
z Early 1980s: Valentino Braitenbergs
synthetic psychology:
Vehicles where complex behavior emerges from combination
of simple NNs encoding different taxes.

Biologically-inspired robotics
Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH
tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris
 Motivation

Applications:
Search-and-rescue operations
Minimally-invasive surgery
Mine clearance
Planetary exploration

Robot-assisted endoscopy
Endoscopy is still a difficult/painful
medical procedure.
The doctor pushes the useful part of the device
(e.g. camera) via a rigid and bulky tail.
Movement causes discomfort to the patient.
Robotic contribution: Allow the tip of the device
to locomote (semi-)autonomously inside the body.
A worm-like robotic device may do the trick!

Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH

tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris
 Manipulator arms

end- Serial
effector manipulator

link

INRIA joint
NASA

Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH

tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris
 Manipulator arms

Basic problems:
Where do I end up after a motion
of the manipulator joints?
How do I implement
a desired end-effector motion?

Kinematics
Dynamics
Control
Design
Perception
Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH
tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris
 Manipulator arms

Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH

tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris
 Mobile robots

NASA

Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH

iRobot RWI tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris
 Mobile robots (cont.)

Underwater robot

Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH

tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris
 Mobile robots (cont.)

Aerial robot
Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH
tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris
 Mobile robots (cont.)

HONDA humanoid
SONY dog

Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH

tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris
 Mobile robots (cont.)

Robotic worms FORTH

Undulatory locomotion

Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH

tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris
 Mobile robots (cont.)

Tokyo Inst. Technology

CCC HEG1 Spider Caltech Snakey

Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH

tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris
 Mobile robots (cont.)

Cooperating mobile manipulators

Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH

tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris
 The course - Main topics

Biological paradigm Tools

Reptile/eel/worm z Mechanics
undulatory locomotion z Control
z Neural control

Insect flight control z Information processing

based on vision
Social insect cooperation
(EMDs, visual motion, )
z Sensor-based behaviors
(centering, homing, )
z Multi-robot behaviors
(swarming, )
z Learning/evolution

Mathematics tools: Linear algebra, ODEs,

Computational tools: Matlab/Simulink,

Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH

tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris
 The course Main references
J. Ayers, J.L. Davis and A. Rudolph, Eds., Neurotechnology
for Biomimetic Robots, The MIT Press, 2002.
J.J. Craig, Introduction to Robotics: Mechanics and Control,
Addison-Wesley Publishing Co., 1989.
M.A. Arbib, Ed., The Handbook of Brain Theory and
Neural Networks, The MIT Press, 1995.
R.C. Arkin, Behavior-based robotics, MIT Press, 1998.
R. Murphy, Introduction to AI robotics, MIT Press, 2000.
R. Pfeifer and C. Scheier, Understanding Intelligence,
The MIT Press, 1999.
----- : In university library
----- : Not in university library

Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH

tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris
 The course Possible projects

Simulation environment for undulatory locomotion

simulates snakes: snakes, eels, worms, nematodes,
written in Matlab/Simulink
libraries of blocks for mechanics, control, sensing elements
user-friendly, but still under development

Possible topics:
snakes + insect behaviors
insect vision (with/without snakes)
snakes + neural control
insect swarms (with/without snakes)
snakes + insects + learning/evolution

Hardware project at CVRL: Lego kit robots, Lefkos, helicopters,

Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH
tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris
 The course

Lecture schedule:
Tuesday & Thursday 1-3 p.m. (Room B211)

Instructor: Dimitris Tsakiris

(ICS-FORTH: 2810-391708, tsakiris@ics.forth.gr)
Teaching assistant: Yannis Karatzanis

Course mailing list: hy590-75-list

Course home page: www.csd.uoc.gr/~hy590-75

Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH

tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris
 The course - credit

Course credits: 4
Course grade:
Work in class: 40-50%
(exercises+class presentations
+midterm exam+final exam)
Project: 50-60%

Dr. Dimitris Tsakiris, Institute of Computer Science - FORTH

tsakiris@ics.forth.gr, http://www.ics.forth.gr/~tsakiris