EECE520 A.I. Class Term Projectgun-a-lee.appspot.com/pub/aibo-ppt.pdf · Mimic, Humming, Sing a...
Transcript of EECE520 A.I. Class Term Projectgun-a-lee.appspot.com/pub/aibo-ppt.pdf · Mimic, Humming, Sing a...
AIBO
Gun A. Lee20023535
VR Lab, CSE
Dec. 4, 2002
EECE520 A.I. Class Term Project
ContentsIntroductionSpecificationFunctionsProgramming AIBOImproving with A.I. TechniquesConclusion
Introduction - AIBO?A.I. Robotあい-ぼう[相棒]A robot pet of SONY
Introduction - AIBO?Line-up
ERS-110 ERS-210 ERS-220 ERS-311May 1999 Oct. 2000 Nov.2001 Sept.2001
Introduction - Robot Pet?Virtual Pets
Tamagochi, Pokemon Pikachu,Digimon
Raising Simulation GamesCreature, Princess Maker
Interactive Dolls / Robot PetFurby, Shelby, Tekno, iCYbie, NeCoRo
i-Cybie
NeCoRo SDR-4X
Specification - Hardware64-bit MIPS RISC CPU32MB SDRAMMemory Stick Media for AIBOBuilt in ClockPC Card Slot Type 2 (ERS-200 Series)Sensors
CMOS Camera, Stereo Microphone, Temperature, Acceleration, Pressure, Vibration, IR Distance
20 DOF on Legs, Tail, Head, Mouth & Ears
Specification - SoftwareAIBO-warePC Applications for AIBODevelopment
R-CODEOPEN-R SDK
Aperios / OPEN-R
FunctionsInstincts
Love, curiosity, movement, hunger & sleep
Expressing EmotionsHappiness, sadness, anger, surprise, fear and dislikeTonal language, motions, LED
LearningVoice(Tonal language) recognitionMimic, Humming, Sing a songObject tracking & Face recognitionTake pictures
Functions - AIBO-wareAIBO-Life & AIBO-Life2
Raise from toddler to child, teen & adultInteracting with AIBO accelerates the maturing.Teach ActionsGive a name to AIBOTell your name
Functions - AIBO-wareHello AIBO
Fully matured adult AIBO75 Voice Command RecognitionMimickingSocial behaviors
Functions - AIBO-wareParty Mascot
GamesSong & Dances
AIBO Speed BoardSkate with voice commandsRecord and replay routines
Functions - AIBO-wareAIBO Explorer
Fully matured AIBOSurveillance modeHyperactive Boost mode
AIBO RecognitionFully matured AIBOOwner RecognitionSelf Recharging on Energy Station
Functions - PC AppsAIBO Fun Pack
Check AIBO StatusDownload Photos
AIBO MessengerNotice e-mail receivedRead e-mailRead favorite websites
Functions - PC AppsAIBO Navigator
Control and NavigateWireless LANVideo and sound monitoringTake PictureSend commandsForce feedback Joystick support
Functions - PC AppsAIBO Master Studio
Create and edit original sound, motion, LED data and BehaviorVoice recognitionWireless LAN debuggingImport/Export Actions for other AIBO wares
FunctionsRobot Soccer?
Programming AIBOR-CODE
Easy to learn, simplified PLR-CODE InterpreterAIBO Master Studio
OPEN-R SDKAdvanced programmingOPEN-R APIBased on gcc (C++)
Programming AIBO:R-CODEFeatures
Similar to BASICControl statementsSubroutinesVariables (16-bit integers)
System variables support sensor data
Addition/SubtractionStacks
Programming AIBO:OPEN-RFeatures
OO designed OPEN-R API of system layerFull control of joints & displaysFull access to sensors
Image data, wave formatted sound data
Network supportsHigh level functions are not supported.
Gait, Voice & Object Recognition, MIDI
Improving with A.I.A.I. Techniques
Problem Solving - SearchInference with Knowledge BasePlanningLearning
Improving with A.I.Newly suggested functions:
‘AIBO, come here!’‘Go, get the newspaper.’
‘AIBO, come here!’Scenario
Owner: ‘AIBO, come here!’AIBO: Tries to find where its owner is.
‘Where are you?’Owner: ‘At the kitchen.’AIBO: Finds the way to the kitchen.
‘AIBO, come here!’Required Functions
Map ConstructionWay finding (Search)
BFS, DFS, IDS
Recognizing the door
‘AIBO, come here!’Map Construction
ManualOwner manually constructs the map of the house and uploads to AIBO’s memory.
AutomaticAIBO wanders around the house and constructs the map by itself.
Semi-automaticOwner takes AIBO to each place of the house and tells where it is.
‘AIBO, come here!’Map Construction
Bedroom1
KitchenLivingRoom
BathRoom
Bedroom2
DiningRoom
FrontDoor
‘AIBO, come here!’Door recognition
Tagging the doorsCyberCode
Jun Rekimoto(DARE2000)Gives ID and Orientation
Tagging the path (on the floor)
‘AIBO, come here!’
PassThrough(x)
InSourceRoomOf(x) ~InTargetRoomOf(x) Opened(x)
InTargetRoomOf(x)
Start
InSourceRoomOf(x) ~InTargetRoomOf(x) ~Opened(x)
Finish
InTargetRoomOf(x)
Open(x)
~Opened(x)
Opened(x)
‘Go, get the newspaper.’Scenarios
‘Go, get the newspaper.’‘Take this to the living room.’‘Take the newspaper to daddy.’‘Turn off the lights.’
‘Go, get the newspaper.’Required Functions
Way finding (previously described)
PlanningPhysical Requirements
Make AIBO strong enough to carry small objects. : Design an AIBO basket(tray)?Make AIBO to be able to turn switches on & off. : Humanoids?
‘Go, get the newspaper.’STRIPS Operators
MoveTo(x)
~In(x) In(y)
In(x) ~In(y)
Get(x)
~Have(x) In(y)
Have(x)
Put(x)
Have(x)
~Have(x)
‘Go, get the newspaper.’Start
~In(F) In(L) ~Have(N)
Finish
Have(N) In(L)
Get(x)
~Have(N) In(F)
Have(N)
MoveTo(F)
~In(F) In(L)
In(F) ~In(L)
MoveTo(L)
~In(L) In(F)
In(L) ~In(F)
ConclusionAIBOCurrently Supported Functions
Simple rule-based behaviorsLearningVoice recognitionFace and object(color) recognition
ConclusionNewly Suggested Functions
‘AIBO, come here!’Map ConstructionWay finding - Search
‘Go, get the newspaper.’Way finding – SearchPlanning