Humanoid Robotics (TIF 160)

CHALMERS
Humanoid Robotics (TIF 160)
Lecture 5-6, 20090910
Programming humanoid robots
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
The Kondo robot
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
The Kondo robot
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
The Kondo robot
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
GPRBS and BRBS
General-purpose robotic brain structure (GPRBS)
Basic robotic brain structure (BRBS)
A method for representing the structure of a robotic brain, i.e. the
brain processes and the decision-making method (see also the
following slide).
Used in research projects in the Adaptive systems group (where
GPRBS has been developed)
A simplified version of GPRBS, described in Chapter 8.
Used in the Humanoid robotics course
Read sections 8.2-8.3 carefully
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
EUF method for decision-making
A general-purpose method for decision-making in autonomous robots, based on the concept of
utility.
See http://www.me.chalmers.se/~mwahde/AdaptiveSystems/Publications/Wahde_EUF2009.pdf
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
EUF method for decision-making
A general-purpose method for decision-making in autonomous robots, based on the concept of
utility.
See http://www.me.chalmers.se/~mwahde/AdaptiveSystems/Publications/Wahde_EUF2009.pdf
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
BRBS
Robot.cs
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
BRBS
Robot.cs
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
BRBS
BrainProcess.cs
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
BRBS
BrainProcess.cs
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
Binocular vision example
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
Binocular vision example
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
Binocular vision example
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
Binocular vision example
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
Binocular vision example
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
Binocular vision example
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
Binocular vision example
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
Binocular vision example
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
Binocular vision example
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
Binocular vision example
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
Binocular vision example
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
Binocular vision example
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
Hubert test program
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
Hubert test program
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
Text-to-speech program
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
C# issues: Code organization
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
C# issues: Code organization
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
C# issues: Code organization
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
C# issues: Adding references
Right click...
Add reference...
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
To do
Download the Majinga simulator
Tomorrow, use the lecture time to familiarize yourselves
with...
...the Majinga simulator
...the text-to-speech classes (TextToSpeech.zip)
...the Binocular vision example (BinocularVisionExample.zip)
(requires two web cameras to run, but you can at least analyze
the code!)
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde
CHALMERS
Next Tuesday
Labs start in the ET Lab at 13.15.
You should try to attend all lab sessions (an attendance
list will be used). The presentation sessions are especially
important.
If, for some reason, you cannot participate in a given
session, you must talk to Mattias in advance, about the
session in question. Failure to do so will result in a
deduction of points.
At least some members of each group must attend each
session.
Mattias Wahde, PhD, associate professor, Chalmers University of Technology
e-mail: [email protected]
www: www.me.chalmers.se/~mwahde