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36
Fumiya Iida Hugo Gravato Marques Utku Culha Xiaoxiang Yu Hung Quy Vu 151B0653B00L IntroducHon to BioBInspired RoboHcs Tuesdays, 08B11, HG D5.2 Eidgenössische Technische Hochschule Zürich Swiss Federal Institute of Technology Zurich BioBInspired RoboHcs Lab

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Page 1: 151B0653B00L'' IntroducHon'to'BioBInspired'RoboHcs'divf.eng.cam.ac.uk/birl/pub/Main/BIR2013/IBIR13_lecture1.pdfNext'Week' No.$ Date$ Contents$ Lecturers$ Exercise$ 1" 09.17" Introduction"

Fumiya'Iida'Hugo'Gravato'Marques'

Utku'Culha'Xiaoxiang'Yu'Hung'Quy'Vu'

151B0653B00L''IntroducHon'to'BioBInspired'RoboHcs'

'Tuesdays,'08B11,'HG'D5.2'

Eidgenössische Technische Hochschule Zürich

Swiss Federal Institute of Technology Zurich BioBInspired'RoboHcs'Lab�

Page 2: 151B0653B00L'' IntroducHon'to'BioBInspired'RoboHcs'divf.eng.cam.ac.uk/birl/pub/Main/BIR2013/IBIR13_lecture1.pdfNext'Week' No.$ Date$ Contents$ Lecturers$ Exercise$ 1" 09.17" Introduction"

ObjecHves'of'this'course'

Advanced'Course!'• 'Learning'how'to'do'interdisciplinary'research'• 'Learning'how'to'find'good'problems'• 'Learning'how'to'sell'your'ideas'and'discoveries''

Fundamentals'of'BioBInspired'RoboHcs'• Learning'concepts,'methods,'and'tools'in'the'field'

Small'Research'Projects'• Experience'the'research'in'BIMC'

'

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Course'Overview'

Tools:''Classical'mechanics'(e.g.'Eq.'of'MoHon),'Matlab'(e.g.'ODE,'Simlink,'SimMechanics),'So`'roboHcs'tool'kit''

No.$ Date$ Contents$ Lecturers$ Exercise$1" 09.17" Introduction" F."Iida" ""

2" 09.24" Underactuated"robotics"Conceptual"models"

F."Iida"""

Problem"Set"1"(due"on"Oct"15)"

3" 10.1" Energy"Shaping/Energy"efIiciency" F."Iida"""

""

4" 10.8" Locomotion"control" F."Iida"""

Problem"Set"2"(due"on"Oct"29)"

5" 10.15" Soft"Robotics" F."Iida"""

""

6" 10.22" Tutorial:Building"bioQinspired"robots" X."Yu,"U."Culha" Problem"Set"3"(due"on"Nov"12)"

7" 10.29" BioQInspired"Actuators/Control" F."Iida,"H."Vu" Project"Discussion"

8" 11.5" Modeling"biological"systems" H."Marques" ""

9" 11.12" Biological"learning"and"control" H."Marques" Project"

10" 11.19" BioQInspired"Navigation" F."Iida" Project"

11" 11.26" SelfQorganization/morphology" F."Iida"""

Project"

12" 12.3" Project"day(No"lecture)" "" Project"

13" 12.10" Project"presentation"

14" 12.17" Examination"

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Course'EvaluaHon'

Courses:'• '8.15B10am'''Lectures'at'HG'D5.2''• '10B11am'Exercise''

Credit'points:'4'ECTS'• '30%'Problem'sets'(x3)'• '30%'Project'presentaHon'(x1)'• '40%'60Bmin'wricen'exam'(x1,'in'December)'

Credit'points'for'doctoral'students'• '2pts'for'lecture'+'problem'sets'• '4pts'for'lecture'+'problem'sets'+'project/exam'

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Course'Materials'

No'specific'text'book''(Further'reading'materials'will'be'indicated'in'the'lectures)''Lecture'note'• 'PPT'will'be'distributed'@'web'• 'Video'recording'will'be'published'@web'

'Course'InformaHon:''hcp://www.birl.ethz.ch/educaHon/'

'

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More'Info'

Course'InformaHon:''hcp://www.birl.ethz.ch/educaHon/''Fumiya'Iida''

'Office'hour:'Tuesdays,'10B12am'@LEO'D9.2''iidaf'BatB'ethz.ch'''

Utku'Culha'@LEO'D11'''utku.culha'BatB'mavt.ethz.ch'

'

QuesHons?'''

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Today:'Lecture'1'Why'BioBInspired'Motor'Control?'

1' • Brief'History'

'2' • Concept'and'Methodology'

'3' • Case'Studies'and'ApplicaHons'

'4' • Challenges'

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Chapter'1:'Why'BioBInspired'RoboHcs?'

Brief'History'

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Design'Principles'for'“Intelligence”?'

Homeostasis'

Feedback'Control'

1860s' 1950s'

Homeostasis SenseBThinkBAct'

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SenseBThinkBAct'Control'Scheme�

Pfeifer,'R.,'Lungarella,'M.,'Iida,'F.'(2007)''Science,'318,'1033B1164'

Controller!Central'nervous'systems

task-environment!Ecological'niche

Sense�

Think�

Act�

Humanoid'Robot'Honda'ASIMO '''''''''''''''''

''''''''''''

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Design'Principles'for'“Intelligence”?'

Homeostasis'

Feedback'Control'

Intelligence'as'Search'Algorithms'

1860s' 1950s' 1980s'

Homeostasis SenseBThinkBAct'

Massive'Parallel'Processes'

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Behavior'Based'RoboHcs�

Pfeifer,'R.,'Lungarella,'M.,'Iida,'F.'(2007)''Science,'318,'1033B1164'

Controller!Central'nervous'systems

task-environment!Ecological'niche

iRobot'Roomba'Clearning'Robot�

Loosely'Coupled''Parallel'Processes�

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Design'Principles'for'“Intelligence”?'

Homeostasis'

Feedback'Control'

Intelligence'as'Search'Algorithms'

SubsumpHon'Architecture'

1860s' 1950s' 1980s' 2000s'

Homeostasis SenseBThinkBAct'

Massive'Parallel'Processes'

Mechanical''Intelligence'

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George'Lauder'@'Harvard''

Page 15: 151B0653B00L'' IntroducHon'to'BioBInspired'RoboHcs'divf.eng.cam.ac.uk/birl/pub/Main/BIR2013/IBIR13_lecture1.pdfNext'Week' No.$ Date$ Contents$ Lecturers$ Exercise$ 1" 09.17" Introduction"

Mechanical'Intelligence�

Pfeifer,'R.,'Lungarella,'M.,'Iida,'F.'(2007)''Science,'318,'1033B1164'

Controller!Central'nervous'systems

task-environment!Ecological'niche

Mechanical'Intelligence�

Running)Dog)Robot)Puppy:'Iida,'F.,'Pfeifer,'R.'(2006)''

Robo.cs)and)Autonomous)Systems,'Vol.'54'(8),'631B640.'

'

Mechanical*systems!Musculoskeletal'system

Sensory*systems!Sensory'receptors

Page 16: 151B0653B00L'' IntroducHon'to'BioBInspired'RoboHcs'divf.eng.cam.ac.uk/birl/pub/Main/BIR2013/IBIR13_lecture1.pdfNext'Week' No.$ Date$ Contents$ Lecturers$ Exercise$ 1" 09.17" Introduction"

Design'Principles'for'“Intelligence”?'

Homeostasis'

Feedback'Control'

Intelligence'as'Search'Algorithms'

SubsumpHon'Architecture'

1860s' 1950s' 1980s' 2000s'

Homeostasis SenseBThinkBAct'

Massive'Parallel'Processes'

Mechanical''Intelligence'

?'

?'

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Chapter'1:'Why'BioBInspired'RoboHcs?'

BioBInspired'RoboHcs''

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BiologyBRoboHcs'Loop'

Biology'B'Observe'B'Modeling'B'Experiment'B'Analysis'

RoboHcs'B'Design'B'Modeling'B'Control'B'Experiment'B'Analysis'

Bio5Inspira1on,**Biological*Models'

'

B  New'goals/ideas'B  New'models'B  New'hypothesis'Synthe1c*Methodology*

Bionics'BiomimeHcs'BioroboHcs'BioBinspired'roboHcs''Synthe1c*Methodology**

Robo1cs*Models'

'

Biological**Understanding*

Robo1cs**Technologies*

Biological'cyberneHcs'ArHficial'life'AdapHve'behaviors''

Page 19: 151B0653B00L'' IntroducHon'to'BioBInspired'RoboHcs'divf.eng.cam.ac.uk/birl/pub/Main/BIR2013/IBIR13_lecture1.pdfNext'Week' No.$ Date$ Contents$ Lecturers$ Exercise$ 1" 09.17" Introduction"

Chapter'1:'Why'BioBInspired'RoboHcs?'

Case'studies'and'applicaHons'

Page 20: 151B0653B00L'' IntroducHon'to'BioBInspired'RoboHcs'divf.eng.cam.ac.uk/birl/pub/Main/BIR2013/IBIR13_lecture1.pdfNext'Week' No.$ Date$ Contents$ Lecturers$ Exercise$ 1" 09.17" Introduction"

BiologyBRoboHcs'Loop'on''Legged'LocomoHon'Studies'

Biology' RoboHcs'

Bio5Inspira1on,**Biological*Models'

'

B  New'goals/ideas'B  New'models'B  New'hypothesis'Synthe1c*Methodology*

Synthe1c*Methodology**Robo1cs*Models'

'

Biological**Understanding*

Robo1cs**Technologies*

Page 21: 151B0653B00L'' IntroducHon'to'BioBInspired'RoboHcs'divf.eng.cam.ac.uk/birl/pub/Main/BIR2013/IBIR13_lecture1.pdfNext'Week' No.$ Date$ Contents$ Lecturers$ Exercise$ 1" 09.17" Introduction"

ApplicaHons'of'LocomoHon'Studies'

AlternaHve'transportaHon'devices''ProstheHc/orthoHc'devices''RehabilitaHon/training'devices''Computer'graphics''Tools'for'biology/anthropology'

Page 22: 151B0653B00L'' IntroducHon'to'BioBInspired'RoboHcs'divf.eng.cam.ac.uk/birl/pub/Main/BIR2013/IBIR13_lecture1.pdfNext'Week' No.$ Date$ Contents$ Lecturers$ Exercise$ 1" 09.17" Introduction"
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Oscar'Pistorius'

Page 24: 151B0653B00L'' IntroducHon'to'BioBInspired'RoboHcs'divf.eng.cam.ac.uk/birl/pub/Main/BIR2013/IBIR13_lecture1.pdfNext'Week' No.$ Date$ Contents$ Lecturers$ Exercise$ 1" 09.17" Introduction"

Exoskeleton'

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Locomat,'Hocoma'

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hcp://video.google.com/videoplay?docid=8978462076041233408#'

Jovan'Popovic'MIT'

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David'Fleet,'Univ.'Tronto'

Page 28: 151B0653B00L'' IntroducHon'to'BioBInspired'RoboHcs'divf.eng.cam.ac.uk/birl/pub/Main/BIR2013/IBIR13_lecture1.pdfNext'Week' No.$ Date$ Contents$ Lecturers$ Exercise$ 1" 09.17" Introduction"

Understanding'Animal'LocomoHon'

EvoluHon'of''Bipedalism''in'Anthropology'

Page 29: 151B0653B00L'' IntroducHon'to'BioBInspired'RoboHcs'divf.eng.cam.ac.uk/birl/pub/Main/BIR2013/IBIR13_lecture1.pdfNext'Week' No.$ Date$ Contents$ Lecturers$ Exercise$ 1" 09.17" Introduction"

Chapter'1:'Why'BioBInspired'RoboHcs?'

Overview'of'Challenges'

Page 30: 151B0653B00L'' IntroducHon'to'BioBInspired'RoboHcs'divf.eng.cam.ac.uk/birl/pub/Main/BIR2013/IBIR13_lecture1.pdfNext'Week' No.$ Date$ Contents$ Lecturers$ Exercise$ 1" 09.17" Introduction"

Bio5inspira1on*

Behavioral*diversity*

BioBInspired''Robots'

Humanoid'Robots'

Autonomous'Cars'

Toys'

Robot'Arms'CNC'Machines'

Automated'Factories'

Research'Platorms'

Page 31: 151B0653B00L'' IntroducHon'to'BioBInspired'RoboHcs'divf.eng.cam.ac.uk/birl/pub/Main/BIR2013/IBIR13_lecture1.pdfNext'Week' No.$ Date$ Contents$ Lecturers$ Exercise$ 1" 09.17" Introduction"

Examples'of'Challenges'

•  Energy'efficiency,'Dexterity,'Agility,'Complexity'•  Underactuated'roboHcs'•  Actuators'and'sensors'•  PercepHon,'navigaHon,'planning'•  Learning,'adapHvity'and'selfBorganizaHon'•  UnconvenHonal'materials'and'so`'roboHcs'•  Growth,'selfBreplicaHon'and'evoluHon'

Page 32: 151B0653B00L'' IntroducHon'to'BioBInspired'RoboHcs'divf.eng.cam.ac.uk/birl/pub/Main/BIR2013/IBIR13_lecture1.pdfNext'Week' No.$ Date$ Contents$ Lecturers$ Exercise$ 1" 09.17" Introduction"

Homework'

•  F.'Iida'and'A.'Ijspeert,'(2014).'BioBinspired'roboHcs,'Springer'Handbook'on'RoboHcs,'(in'preparaHon).'

•  B.'Webb,'(2001).'Can'robots'make'good'models'of'biological'behaviour?,'Behavioral'and'Brain'Sciences'24:'1033B1050.'

•  R.J.'Full'and'D.E.'Koditschek'(1999).'Templates'and'anchors:'Neuromechanical'hypotheses'of'legged'locomoHon'on'land,'Journal'of'Experimental'Biology'202:'3325B3332.''

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Further'Reading'Materials'

•  Wiener'“CyberneHcs”,'1965'•  Brooks'“Cambrian'Intelligence”'MIT'Press,'1999'•  Pfeifer'&'Scheier'“Understanding'Intelligence”'MIT'Press,'2000'

•  Webb'&'Consi'“BioroboHcs”'AAAI'Press,'2001'•  Bekey'“Autonomous'Robots”'MIT'Press,'2005'•  Floreano'&'Mawussi'“BioBInspired'ArHficial'Intelligence”'MIT'Press,'2008'

Page 34: 151B0653B00L'' IntroducHon'to'BioBInspired'RoboHcs'divf.eng.cam.ac.uk/birl/pub/Main/BIR2013/IBIR13_lecture1.pdfNext'Week' No.$ Date$ Contents$ Lecturers$ Exercise$ 1" 09.17" Introduction"

Next'Week'No.$ Date$ Contents$ Lecturers$ Exercise$1" 09.17" Introduction" F."Iida" ""

2$ 09.24$ Underactuated$robotics$Conceptual$models$

F.$Iida$$$

Problem$Set$1$(due$on$Oct$15)$

3" 10.1" Energy"Shaping/Energy"efIiciency" F."Iida"""

""

4" 10.8" Locomotion"control" F."Iida"""

Problem"Set"2"(due"on"Oct"29)"

5" 10.15" Soft"Robotics" F."Iida"""

""

6" 10.22" Tutorial:Building"bioQinspired"robots" X."Yu,"U."Culha" Problem"Set"3"(due"on"Nov"12)"

7" 10.29" BioQInspired"Actuators/Control" F."Iida,"H."Vu" Project"Discussion"

8" 11.5" Modeling"biological"systems" H."Marques" ""

9" 11.12" Biological"learning"and"control" H."Marques" Project"

10" 11.19" BioQInspired"Navigation" F."Iida" Project"

11" 11.26" SelfQorganization/morphology" F."Iida"""

Project"

12" 12.3" Project"day(No"lecture)" "" Project"

13" 12.10" Project"presentation"

14" 12.17" Examination"

Page 35: 151B0653B00L'' IntroducHon'to'BioBInspired'RoboHcs'divf.eng.cam.ac.uk/birl/pub/Main/BIR2013/IBIR13_lecture1.pdfNext'Week' No.$ Date$ Contents$ Lecturers$ Exercise$ 1" 09.17" Introduction"

Robotics/Control Related Seminars"ETHZ'DisHnguished'Seminars''in'RoboHcs'Systems'and'Controls''(only'Fall'Semesters)'hcp://www.iris.ethz.ch/iris/series/''BioBRoboHcs'Network'Zurich'Seminars'(BiRoNZ)''(only'Spring'Semesters)'hcp://www.birl.ethz.ch/bironz/index''ETHZ'Control'Seminars'hcp://control.ee.ethz.ch/''ETHZ'Computer'Science'Colloquium'hcp://www.inf.ethz.ch/news/colloquium/''RehabilitaHon'IniHaHve'and'Technology'Platorm'Zurich'hcp://www.neuroreha.uzh.ch/Seminars.html''InsHtute'of'NeuroInformaHcs'Colloquia'hcp://www.ini.uzh.ch/seminars'

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151B0623B00L'::'ETH'Zurich'DisHnguished'Seminar'in'RoboHcs,'Systems,'and'Controls'

hcp://www.iris.ethz.ch/iris/series/'

Schedule'for'HS2013'20.09.2012*15:00pm** Prof.*Bruno*Siciliano,*University*of*Naples*

04.10.2012'15:00pm'' Prof.'Masayuki'Inaba,'University'of'Tokyo'

18.10.2012'15:00pm'''

Prof.'Allison'Okamura,'Stanford'University'

01.11.2012'15:00pm'''

Prof.'Connor'Walsh,'Harvard'University'

15.11.2012'15:00pm'' Prof.'Rob'Wood,'Harvard'University'

29.11.2012'15:00pm'' Prof.'Wolfram'Burgard,'University'of'Freiburg'

13.12.2012'16:00pm'' Prof.'EHenne'Burdet,'Imperial'College'London'


Degree College Lecturers

Briefing to lecturers 03a

RT Return Line Filter The Standard Product Range for ......EN 7.422.0 / 09.17 RT Return Line Filter The Standard Product Range for Optimized Air Separation 2 EN 7.422.0 / 09.17 Optimized

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BIRL Bürgernachrichten Nr. 057 - unser-luebeck.de · Title: BIRL Bürgernachrichten Nr. 057 Author: Joerg Sellerbeck Created Date: 6/10/2009 1:42:53 AM

15859 - TS · 2017. 11. 7. · 15859 - TS Modif Cant. s. Foaia№ doc. Semnatura Data Faza Foaia Foi PE 1 Elaborat Mororaş T Verificat Reaboconi V. 09.17 15859-TS.SU 10 11...16 09.17

Kutu Prof Birl

Limmud Galil 2012 lecturers

BIRL Bürgernachrichten Nr. 080 - unser-luebeck.de · Title: BIRL Bürgernachrichten Nr. 080 Author: Joerg Sellerbeck Jr Created Date: 10/26/2009 9:38:15 PM

akciosujsag.hu - Nimbusz, 2011.08.29-09.17

The Birl: An Electronic Wind Instrument Based on an ... · PDF fileThe Birl: An Electronic Wind Instrument Based on an Artificial Neural Network Parameter Mapping Structure Jeff Snyder

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BİRL İKTE DENEYLE Ö ĞRENME TEKN N 9. SINIF Ö ĞRENC İLER …

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Ministry of National Education · Web viewAile Birl iğ i Adına) EK-4 / Ban k a Hesabı (O k ul Aile Birl iğ i Adına) EK-4 / Ban k a Hesabı (O k ul Aile Birl iğ i Adına) EK-8

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Faculty/Staff/Lecturers Directory 2016-2017 · Faculty/Staff/Lecturers Directory 2016-2017 . ... Faculty/Staff/Lecturers Directory 1175 Manono Street Hilo, ... Ramos, Paul, Janitor

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University lecturers’ construction of the ‘ideal’ undergraduate studentcentaur.reading.ac.uk/78569/8/University lecturers... · 2020. 3. 6. · ARTICLE University lecturers’