Quelques dates clés Quelques définitions
1923 Invention du mot « robot » (pièce de théâtre de Karel Capek) 1993 Cog Humanoid Robotics Group
Projet Robotique Lévolution des robots 3ème
A l'aide des sites Internet ressources et des dates clés de l'histoire des robots 1993 Cog
Automatisme et Robotique RESSOURCE
1993 Cog Humanoid Robotics Group
The Cog Project: Building a Humanoid Robot
MIT Artificial Intelligence Lab http://www.ai.mit.edu/projects/cog/. Abstract. ... group began the construction of a humanoid robot.
_Histoire des robots
1993 Cog Humanoid Robotics Group
Evolution de Evolution de lobjet technique Travail 6 technique 3
A l'aide des dates clés de l'histoire des robots 1993 Cog Humanoid Robotics Group
Poppy: open-source 3D printed and fully-modular robotic platform
13 juil. 2015 à l'Humanoid Robotics Group de l'Institut de Technologie du Massachusetts(MIT). ... L'approche scientifique des robots Cog est orientée vers ...
The Cog Project: Building a Humanoid Robot
{brookscynthia
The Cog Project: Building a Humanoid Robot
{brookscynthia
Evolution de lobjet technique Travail 1 3
A l'aide des dates clés de l'histoire des robots (doc 3/3) compléter la frise 1993 Cog
TheCogProject:BuildingaHumanoidRobot
Research in humanoid robotics has uncovered a variety of new problems andafewsolutionstoclassicalproblemsinroboticsarti?cialintelligenceand control theory This research draws upon work in developmental psychology ethologysystemstheoryphilosophyandlinguisticsand throughthe process
The Cog Project: Building a Humanoid Robot - MIT CSAIL
group began the construction of a humanoid robot This research project has two goals: an engineering goal of building a prototype general purpose ?exible and dextrous autonomous robot and a scienti c goal of understanding human cognition (Brooks & Stein 1994) Recently many other research groups have begun to construct integrated hu-
1 Introduction - Massachusetts Institute of Technology
In the Humanoid Robotics Group at MIT CSAIL we are currently developing a new force sensing and compliant humanoid namedDomo Domois to be a research platform for exploring issues in general dexterous manipulation visual perception and learning This project is currently in the design and development phase
What is a Cog robot?
Cog was a humanoid robot designed by Rodney Brooks's group at MIT as a platform to study robot cognition. It could track faces, grasp objects, and, perhaps most famously, play with a Slinky. How do you like this robot? Would you want to have this robot? Did You Know? Able to recognize objects and reach for a visual target.
What is a humanoid robot?
In the summer of 1993, ourgroup began the construction of a humanoid robot. This research project hastwo goals: an engineering goal of building a prototype general purpose ?exibleand dextrous autonomous robot and a scientifc goal of understanding humancognition (Brooks & Stein 1994).
What was the first humanoid robot to use Series Elastic actuators?
Cog was one of the first humanoid robots to use series elastic actuators: The motors on the arms were connected to the joints in series with a torsional spring, which protected the gearbox and provided compliance and more safety for people interacting with the arms.
What is an upper-torso humanoid robot called?
Abstract. To explore issues of developmental structure, physical em-bodiment, integration of multiple sensory and motor systems, and socialinteraction, we have constructed an upper-torso humanoid robot calledCCog.
TheCogProject:BuildingaHumanoidRobot
BrianScassellati,MatthewM.Williamson
MITArticialIntelligenceLab
545TechnologySquare
CambridgeMA02139,USA
http://www.ai.mit.edu/projects/cog/ re tem.1Introduction
exible cognition(Brooks&Stein1994). uencedourresearch theopenproblemsthathaveyettobeaddressed.2Methodology
andmultimodalintegration. thenbrie constructinghumanoidroboticsystems. sciencerefutestheseassumptions. task. centralmodelofvisualspace. science. ratherthanasinglemonolithicone. sameproblem.2.2EssencesofHumanIntelligence
ofcreatinghuman-likeintelligence. competencyofthesystem. uxofstimula- mentalprogression.1998).
taskconstraints.1998a,Williamson1998b).
onemodalitycananddoin usingvestibularfeedback. integration. thedevelopmentofearlyAI.3Hardware
3.1ComputationalSystem
3.2PerceptualSystems
digitalsignalprocessornetwork. processornetwork. robot.3.3MotorSystems
1986).
ectsoutoftheway.Thedis- 31"degrees)andbodytwist(120degrees)
3.4DevelopmentPlatforms
designcanbefoundinScassellati(1998a). ofthebehaviorengine. rentemotionalstateoftherobot.4CurrentLong-TermProjects
4.1JointAttentionandTheoryofMind
state. approaches. thatarecriticaltoinfantdevelopment. itsactionsin guidethelearningprocess. appropriateemotiveandexpressivecues. interactionthattherobotrequires. itsemotiveactsin fortherobottolearnhowitsemotiveactsin uencethebehaviorofthecare- satisfyitsdrives.4.3DynamicHuman-likeArmMotion
thenaturaldynamicsoftherobottoobtain exibleandrobustmotionwithout complexcomputation.4.4Multi-modalCoordination
eachother. example). isbynomeanstrivial. limits,andactuatoraccuracy. ofredundantinformationproducedbycon uentdatastreams.Anycorrelation betweeneventswithtimedelays. lookingtasks.Postureisnotmerelyare exivecontrol;ithasfeed-forwardcom- amountofmulti-modalintegration.5CurrentTasks
y http://www.ai.mit.edu/projects/cog/.5.1Visual-motorRoutines
ments(thevestibulo-ocularre theseeyemotions. imageprojectionchangesslowly. smoothpursuit.Vestibular-ocularandOpto-kineticRe
exes:Thevestibulo-ocularre- headmoves.Thevestibulo-ocularre ex(VOR)stabilizestheeyesduringrapid bymeasuringtheoptic otolithorgans). ofoptic optic owestimateisa necktothattarget.5.2Eye/NeckOrientation
someconstantk.2 neckisinmotion:thevestibulo-ocularre exoraneerencecopysignalofthe additionsnecessary.Becausethere exusesgyroscopefeedbacktomaintainthe k,wherekisthesameconstant ex,theINPUTTONIC
c INPUT TONIC c v1 1 2 v2bb hj [gj]- wy2wwy1hj [gj]+ y1 y2 youtPROPRIOCEPTIVEINPUTgjOUTPUT
g y5.3DynamicOscillatorMotorControl
bedescribedby: u i=ki(vii)bi_i(1) inunstructuredenvironments. neuronisgovernedbythefollowingequations:1_x1=x1v1![x2]+j=n
j=1hj[gj]++c(2)2_v1=v1+[x1]+(3)
1_x2=x2v2![x1]+j=n
j=1hj[gj]+c(4)2_v2=v2+[x2]+(5)
y i=[xi]+=max(xi;0)(6) y out=y1y2(7)Matsuoka(1987).
Oneneuron
theoverallarmmotion. synchronywiththeshoulder.01234567-20
-10 0 10 20 30Time seconds
joint anglesWith force feedback
01234567-20
-10 0 10 20 30Time seconds
joint anglesWithout force feedback
sh angle el angle speed onlywiththeproprioceptivefeedback. coordinationisshowninFigure8. oftheoscillations.5.4PointingtoaVisualTarget
024681012-40
-20 0 20 4060
time - seconds equilbrium angle
024681012-40
-20 0 20 4060
time - seconds equilibrium angle left arm right arm feedback gain appropriatefortrainingtheballisticmap. ail- throughitsworkspace. simplieslearning. ofactiveresearch. containingtheeyeforfurtherprocessing.
5.6Imitatingheadnods
mustcomefromaface-likeobject. andfacialexpressions.Thesesystemsin uenceeachothertoestablishandmain- stimulithatcanbein robot'sfacialexpressionsre driveswithinhomeostaticranges. occurs,therobot'sexpressionre0204060801001201401601802000
5001000
1500
2000
2500Interaction with face
Time (seconds)
Activation Level
AngerDisgust
Interest
Sadness
Happiness
020406080100120140160180200
-2000 -1000 0 10002000
Time (seconds)
Activation LevelSocial driveSocialize behaviorFace stimulus toanger. toomuchandoverstimulatingtherobot. interactionin6FutureResearchDirections
4.4.6.1Coherence
awaywhichhasproducedanyvalidsolutions.6.2OtherPerceptualSystems
taste.6.3DeeperVisualPerception
ex,andver- environment. neitherisnecessarilythecorrectapproach. pathtakenbychildren. variedlighting.46.4ASenseofTime
the owoftimeweashumanbeingsexperience. programanddata,andtheprogramhasanatural owoftimethatitcanthen theproblemofhowepisodicmemorymightarise.7Acknowledgments
Grant(No.N00014-95-1-0600).
References
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