nao by nao - interactive intelligence - robotutor 2 overview •introduction to robotics...

Download Nao by Nao - Interactive   Intelligence - RoboTutor 2 Overview •Introduction to Robotics •Sensors of NAO •Effectors of NAO •Programming a NAO •Applications – Robotutor

Post on 11-Apr-2018

218 views

Category:

Documents

4 download

Embed Size (px)

TRANSCRIPT

  • 1Artificial Intelligence - RoboTutor

    Nao by NaoAn introduction to robotics

  • 2Artificial Intelligence - RoboTutor

    Overview

    Introduction to Robotics

    Sensors of NAO

    Effectors of NAO

    Programming a NAO

    Applications Robotutor

  • 3Artificial Intelligence - RoboTutor

    The word robot is derived from a Slavonic word which means serf.

    A. TrueB. False

    True

    False

    0%0%

    9

  • 4Artificial Intelligence - RoboTutor

    My (distant) robot family

    Asimo

    KUKA

    DaVinci

    GeminoidManipulators Mobile Robots

    Zebro

    Quadcopter

    Humanoids

  • 5Artificial Intelligence - RoboTutor

    Why do you need us robots?

    Tasks dangerous for humans Repetitive, mechanical tasks

    Service tasksExploration tasks

  • 6Artificial Intelligence - RoboTutor

    What is a robot?

    A robot is:

    Physical Agent

    Manipulates the physical world

    Has sensors

    Has effectors

  • 7Artificial Intelligence - RoboTutor

    Which of these, according to the definition, is not a robot?

    A. ZebroB. A classic vacuum

    cleanerC. Cruise controlD. The Mars rover

    A. B. C. D.

    0% 0%0%0%

    9

  • 8Artificial Intelligence - RoboTutor

    How do we work?

    Sensor

    Control Program

    Effector

  • 9Artificial Intelligence - RoboTutor

    Humanoid Robot NAO

    Humanlike appearance

    Programmable, compact, electro-

    mechanical

    Processor: Intel Atom Z530

    Software

    Linux System

    Control Architecture: NaoQi Framework

    (AL)Modules and self-built modules

    Multi-language SDK

  • 10Artificial Intelligence - RoboTutor

    Remote and Local Control

    ServerClient

    Local vs. Remote

    Trade-off Computational power Data transmission cost

    Atom Z530 on the robot

    Core i7 on the desktop/laptop

  • 11Artificial Intelligence - RoboTutor

    Sensors

    Sensors Perceive properties and events

    from environment Color, shape, size of objects A human is approaching the robot

    Feedback on its own behaviors Is the robot hand touching the cup?

    Example sensors: Gyroscope, thermometer, laser sensor, camera, microphone, etc.

    lasers

    infraredcamera

    digital compass

    sonar

    photoelectricencoder

    GPS

  • 12Artificial Intelligence - RoboTutor

    Sensors of NAO

    Camera 2 Microphone 4 Sonar 2 Pressure 8 Tactile 9 Bumper 4 Button 1 Infrared 2 Accelerometer 1 Gyro 2 Joint Position Sensor 36 Current/Temperature

    Resistors 27

  • 13Artificial Intelligence - RoboTutor

    Sensor Position sensors(Magnetic Rotary Encoder)

    Detect the (angular) position of

    joints/motors

    In the picture

    Two equally spaced magnets

    The output voltage peaks twice

    per revolution.

  • 14Artificial Intelligence - RoboTutor

    Force sensor- Force Sensitive Resistors

    Detect whether the robot is standing on something

    Force change ->Resistor value change

    Walking balance

    Fall-down detection

  • 15Artificial Intelligence - RoboTutor

    Tactile Sensors Hand (3)

    Left, Right, Back

    Head (3) Front, middle, back

    Foot (2x2) Left, right

  • 16Artificial Intelligence - RoboTutor

    Inertial and Gyro sensors

    Acceleration: x, y, z Rotation: Roll (x), Pitch (y)

    Tracking the robot position

    Tracking the robot pose

    Walking balance

    Fall-down detection

  • 17Artificial Intelligence - RoboTutor

    Sensor - Sonar

    Emitter-receiver pairs 2 on front

    Resolution: 1cm

    Effective cone: 60

    Detection Range: 0.25m to 2.55m

    Obstacle detection

    Pros: Fast

    SonarRightNothingDetected

    SonarLeftNothingDetected

    SonarRightDetected

    SonarLeftDetectedEvents:

  • 18Artificial Intelligence - RoboTutor

    Sensor - Microphone

    4: front, rear, left, right

    Speech recognition Match predefined words Cannot recognize undefined

    words

    Audio source localization

  • 19Artificial Intelligence - RoboTutor

    Sensor - Camera

    Number2 on front

    Active Pixels 1288968

    Frame Rate

    Non-overlapped field of View

    Focus Range: 30cm ~ infinity

  • 20Artificial Intelligence - RoboTutor

    Traditional stereo vision cannot be constructed directly using the cameras on the NAO because

    A. They are not located horizontally

    B. They have no overlapped field of view

    C. Computational power is insufficient on the robot

    D. Software for stereo-vision is not available for the NAO

    A. B. C. D.

    0% 0%0%0%

    9

  • 21Artificial Intelligence - RoboTutor

    How many sensors do you think I have?

    A. 20 40B. 40 60C. 60 80 D. 80 100

    20

    40

    40

    60

    60

    80

    80

    100

    0% 0%0%0%

    9

  • 22Artificial Intelligence - RoboTutor

    Which module is the most suitable to run on the robot?

    A. Sonar based obstacle avoidance

    B. 3D reconstruction of environment based on computer vision

    C. Speech-to-text recognition

    D. Facial expression recognition

    A. B. C. D.

    0% 0%0%0%

    15

  • 23Artificial Intelligence - RoboTutor

    Break

Recommended

View more >