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“Soft Robotics”Self-organization, embodiment,
and biological inspirationThe four messages of embodiment
Tecnológico de Monterrey Campus Querétaro22 February 2011
Rolf Pfeifer, Artificial Intelligence LaboratoryDepartment of informatics, University of Zurich, Switzerland
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Thanks to ...
Hajime AsamaRudolf BannaschJosh BongardSimon BovetRodney BrooksWeidong ChenSteve CollinsHolk CrusePaolo DarioRaja DravidRodney DouglasPeter EggenbergerMartin FischerDario FloreanoToshio FukudaRobert FullGabriel GomezFumio HaraAlejandro HernandezOwen HollandKoh HosodaFumiya IidaAuke Ijspeert Takashi Ikegami
Masayuki InabaAkio IshiguroOussama KathibAlois KnollYasuo KuniyoshiLukas LichtensteigerMax LungarellaRen LuoShuhei MiyashitaNorman PackardMike RinderknechtRoy RitzmannAndy RuinaGiulio SandiniOlaf SpornsLuc SteelsRuss TedrakeEsthen ThelenSethu VijakyakumarRuediger WehnerMartijn WisseHiroshi YokoiWenwei YuMarc Ziegler
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… for their ideas
Hajime AsamaRudolf BannaschJosh BongardSimon BovetRodney BrooksWeidong ChenSteve CollinsHolk CrusePaolo DarioRaja DravidRodney DouglasPeter EggenbergerMartin FischerDario FloreanoToshio FukudaRobert FullGabriel GomezFumio HaraAlejandro HernandezOwen HollandKoh HosodaFumiya IidaAuke Ijspeert Takashi Ikegami
Masayuki InabaAkio IshiguroOussama KathibAlois KnollYasuo KuniyoshiLukas LichtensteigerMax LungarellaRen LuoShuhei MiyashitaNorman PackardMike RinderknechtRoy RitzmannAndy RuinaGiulio SandiniOlaf SpornsLuc SteelsRuss TedrakeEsthen ThelenSethu VijakyakumarRuediger WehnerMartijn WisseHiroshi YokoiWenwei YuMarc Ziegler
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Goals
buzzword “embodiment”
seeing things differently
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Contents
• Basic ideas: the four messages of embodiment
• Applications: Service- and companion-robots
• Where are we going? — “Soft robotics”• A look into the future: Self-assembly• Take home message
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Getting into the spirit of embodiment
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The spirit of embodiment
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The spirit of embodiment
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The spirit of embodiment
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The spirit of embodiment
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The spirit of embodiment
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“Crazy Bird” — Morphology, Control
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loosely hanging feetrubber/plastic
Design and construction:Mike Rinderknecht
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Message 1: Physical embedding
Studying brain (or control) not sufficient: Understanding of
• embedding of brain into organism
• organism’s morphological and material properties
• interaction with environment
required
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Let me be clear
The brain is important!
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Let me be clear
The brain is important!
but not the whole story ...
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A bit of background
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Artificial Intelligence — goals
1. Understanding biological systems
2. Making abstractions, developing theory
3. Applications
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animals
humans
beer-serving robot
vacuum cleanerFreitag, 4. März 2011
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Zurich AI Lab robots
Didabot
Famez
Sita
Rufus T.Firefly
Ms. Gloria Teasdale
MorphoFreitag, 4. März 2011
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Zurich AI Lab robots
AmouseSahabotI/IIMelissaTrippSamuraiAnalogrobDexterolatorStumpyEyebotMindstormsKheperasMitsubishiForkleg
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Zurich AI Lab robots
Stumpy, Monkey, Puppy, Min-dog, Wheeled Walker, Mini-Stumpy, Wanda, Dumbo, Rabbit
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Zurich AI Lab robots
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AI Lab Robots(exploration of morphology)
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Two views of intelligence
classical: cognition as computation
embodiment: cognition emergent from sensory-motor and interaction processes
Illustrations byShun Iwasawa
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Successes and failures of the classical approach
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successes
applications (e.g. Google)
chess
consumer electronics
etc.
failures
foundations of behavior
natural forms of intelligence
interaction with real world
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Message 2: Real/Artificial worlds
Understanding of differences between industrial robots and humans/animals and their environments
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Industrial environments vs.real world
industrial environments
environment well-known
little uncertainty
predictability
real worldenvironment
limited knowledge and predictability
rapidly changing
high-level of uncertainty
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Industrial robots vs. natural systems
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principles:- strong, precise, fast motors- centralized control- optimization- computing power
Industrial robots
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Industrial robots vs. natural systems
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principles:- low precision- compliant- control distributed throughout body- reactive- coping with uncertainty
humans
no direct transfer of methods
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Transferring methods
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Sony Qrio:high stiffness
centralized controlconputationally intensive
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Transferring methods
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Sony Qrio:high stiffness
centralized controlconputationally intensive
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Transferring methods
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Sony Qrio:high stiffness
centralized controlconputationally intensive
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Transferring methods
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Sony Qrio:high stiffness
centralized controlconputationally intensive
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By comparison: The “Passive Dynamic Walker”
Design and construction:Ruina, Wisse, Collins: Cornell UniversityIthaca, New York
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The “brainless” robot”:walking without control
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By comparison: The “Passive Dynamic Walker”
Design and construction:Ruina, Wisse, Collins: Cornell UniversityIthaca, New York
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The “brainless” robot”:walking without control
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By comparison: The “Passive Dynamic Walker”
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The “brainless” robot”:walking without control
self-stabilization
Design and construction:Ruina, Wisse, Collins: Cornell UniversityIthaca, New York
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By comparison: The “Passive Dynamic Walker”
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The “brainless” robot”:walking without control
self-stabilization
Design and construction:Ruina, Wisse, Collins: Cornell UniversityIthaca, New York
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Implications of embodimentSelf-stabilization
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Pfeifer et al.,Science,16 Nov. 2007
Passive Dynamic Walker
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Implications of embodimentSelf-stabilization
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Passive Dynamic Walker
Pfeifer et al.,Science,16 Nov. 2007
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Implications of embodimentSelf-stabilization
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Passive Dynamic Walker
self-stabilization
Pfeifer et al.,Science,16 Nov. 2007
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Short question
memory for walking?
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Contrast: Full control — “hard”
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Sony QrioHonda Asimo
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Extending the ecological niche
Design and construction:Martijn Wisse, Delft University
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self-stabilization
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Extending the ecological niche
Design and construction:Martijn Wisse, Delft University
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self-stabilization
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Implications of embodimentSelf-stabilization
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“Denise”
self-stabilization
Pfeifer et al.,Science,16 Nov. 2007
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Message 3: Task distribution
Task distribution between brain (control), body (morphology, materials), and environment
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morphological computation
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Task distribution between brain (control), body (morphology, materials), and environment
no clear separation between control and hardware (“soft robotics”)
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morphological computation
Message 3: Task distribution
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“Stumpy”: task distribution
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self-stabilization
almost brainless: 2 actuated jointsspringy materialssurface properties of feet
Design and construction: Raja Dravid, Chandana Paul, Fumiya Iida
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The dancing robot “Stumpy”
Collaboration with Louis-Philippe Demers, Nanyang Technological University, Singapore
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Movie:Dynamic Devices and AILab, Zurich
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The dancing robot “Stumpy”
Collaboration with Louis-Philippe Demers, Nanyang Technological University, Singapore
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Movie:Dynamic Devices and AILab, Zurich
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Outsourcingfunctionality
Mini-rHexDesign and construction:Robin Guldener, Lijin Aryananda
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soft, flexible, elastic materials
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Outsourcingfunctionality
Mini-rHexDesign and construction:Robin Guldener, Lijin Aryananda
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soft, flexible, elastic materials
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The “robot frog” driven by pneumatic actuators (UTokyo)
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Design and construction: Ryuma Niiyama and Yasuo KuniyoshiUniversity of Tokyo
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The “robot frog” driven by pneumatic actuators (UTokyo)
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Design and construction: Ryuma Niiyama and Yasuo KuniyoshiUniversity of Tokyo
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Grasping
• many ways• winding spring• release• exploited by brain
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“outsourcing” of functionalitydistribution of control through body
“free”
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Towards “cognitive” robots
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Adding sensors: generation of sensory stimulation through action
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• knowledge about environment: pressure, haptic, acceleration, vision, ...
• knowledge about own body: angle, torque, force, vestibular, …
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Message 4: Physical dynamics and information structure
Induction of patterns of sensory stimulation through physical interaction with environment
raw material for information processing of brain (control)
induction of correlations (information structure)
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Loosely swinging arm
• preferred trajectories• biomechanical constraints
(morphology, materials)
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elbow joint:passive, self-organizes into proper trajectory
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Loosely swinging arm
• preferred trajectories• biomechanical constraints
(morphology, materials)
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elbow joint:passive, self-organizes into proper trajectory
purpose?
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Fitting it all together: the“story”
• exploration
• biomechanical constraints (morphology, materials)
• preferred trajectories
• generation of rich useful data
• induction of information structure (self-structuring)
• learning
• cross-modal associations (predictions)
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Compliance, “softness”: the next steps
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The super-compliant robot ECCEDesign and construction:
Rob Knight — robotstudio, GenevaRichard Newcombe — Imperial College
Owen Holland — Essex/Sussex UniversityHugo Marques, Cristiano Alessandro, Max
Lungarella — UZH, experiments
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Anthropomorphic design
ECCE — Embodied Cognition in a Compliantly Engineered Robot
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The super-compliant robot ECCE
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ECCE — Embodied Cognition in a Compliantly Engineered Robot
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Techfest 2011, IIT Bombay
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Embodied IntelligenceSwitzerland
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i-Days, LucerneSwitzerlandSeptember 2010
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Hannover Fair, ICT Brussels, Science Fair St. Agrève, France
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ECCE with Doris Leuthart, presidentof Switzerland: Innovation Fair 2010
Design and construction:Rob Knight — robotstudio, Geneva
Richard Newcombe — Imperial CollegeOwen Holland — Essex/Sussex University
Jaan Spitz, Pascal Kaufmann — UZHHugo Marques, Cristiano Alessandro, Max
Lungarella — UZH, experiments
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Anthropomorphic design
ECCE — Embodied Cognition in a Compliantly Engineered Robot
der “bionische Roboter”
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The super-compliant robot ECCE
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Anthropomorphic design
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The super-compliant robot ECCE
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Anthropomorphic design
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The super-compliant robot ECCE
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Anthropomorphic design
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The super-compliant robot ECCE
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Anthropomorphic design
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Essence
• self-structuring of sensory data through — physical — interaction with world
• physical process, not computational
pre-requisite for learning
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Inspiration:John Dewey, 1896 (!)Merleau-Ponty, 1963Bajcsy, 1963; Aloimonos, 1990; Ballard, 1991Sporns, Edelman, and co-workersThelen and Smith (developmental studies)
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Contents
• Basic ideas: the four messages of embodiment
• Applications: Service- and companion-robots
• Where are we going? — “Soft robotics”• A look into the future: self-assembly• Take home message
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Applications
• classical/algorithmic: chess, search engines, data mining, appliances, control, etc.
• embodied/robots in real world:entertainment, education (edutainment), service, medical, hazardous environments, etc.
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Entertainment robots
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The flute playing robotRoboter WF-4
Design and construction:Waseda University,Tokyo
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The flute playing robotRoboter WF-4
Design and construction:Waseda University,Tokyo
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Recptionist at last World Expo
Design and construction:Osaka University, andKokoro Dreams
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Recptionist at last World Expo
Design and construction:Osaka University, andKokoro Dreams
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The robot teacher Saya(Hiroshi Kobayashi,
Univ. of Science, Tokyo)
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Support SuitsExoskeletons
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HAL, the “HybridAssistive Limb ®”
Cyberdyne Inc.Exoskeleton
paralyzed individual to climb Breithorn (Switzerland)
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Wheel chair: controlled by brain waives
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recognition of subject’s intentions based on analysis of non-invasive EEG signals
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First prototype
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Design and construction:Konstantinos Dermitzakis
AILab, UZH
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First prototype
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Design and construction:Konstantinos Dermitzakis
AILab, UZH
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Fitness center of thefuture?
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ten, nine, eight, …
Robot development by OsakaUniversity and Kokoro DreamsJapan
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Entertainment and sports ALP: The Adaptive Leg Press
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Design andconstruction:Max Lungarellaand Raja Dravid
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Entertainment and sportsALP: The Adaptive Leg Press
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Design andconstruction:
Max Lungarellaand Raja Dravid
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Entertainment and sportsALP: The Adaptive Leg Press
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Design andconstruction:
Max Lungarellaand Raja Dravid
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Contents
• Basic ideas: the four messages of embodiment
• Applications: Service- and companion-robots
• Where are we going? — “Soft robotics”• A look into the future: self-assembly• Take home message
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“Soft Robotics”
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Soft to touch Soft movement Soft interaction Emotions
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“Soft Robotics”
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Soft to touch
- materials- soft skin- fur - deformable tissue
Soft movement
- elastic compliant materials for muscles and tendons- variable compl. actuators- expl. passive dynamics
Soft interaction
- soft movements- social and cognitive skills- reactive- soft materials
Emotions
- friendly interaction with humans- facial expression- body posture
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The next “industrial revolution”
beyond traditional manufacturing
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hard roboticsnew manufacturingtechnology
new industrial revolution
softbots
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The next “industrial revolution”
beyond traditional manufacturing
manipulation skills
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hard roboticsnew manufacturingtechnology
new industrial revolution
softbots
Rodney Brooks
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New manipulation skills
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Contents
• Basic ideas: the four messages of embodiment
• Applications: Service- and companion-robots
• Where are we going? — “Soft robotics”• A look into the future: self-assembly• Take home message
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Self-assemblyShuhei Miyashita’s “Tribolons”
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• light, swimming on water (electrolyte)
• magnet and vibration motor
• “pantograph”
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“Pizza” self-assembly
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“Pizza” self- assembly
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Design and construction:Shuhei Miyashita, AI Lab, UZH and CMU
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“Pizza” self- assembly
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Design and construction:Shuhei Miyashita, AI Lab, UZH and CMU
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“Pizza” self- assembly
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Design and construction:Shuhei Miyashita, AI Lab, UZH and CMU
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Emergent functionalitya “bicycle”
emergent functionality
how does it work?
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green discs:magnet
no vibration motor
yellow triangle:magnet
vibration motor
basin withelectrolyte
Design and construction:Shuhei Miyashita, AI Lab, UZH and CMU
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Emergent functionalitya “bicycle”
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Design and construction:Shuhei Miyashita, AI Lab, UZH and CMU
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Emergent functionalitya “bicycle”
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Design and construction:Shuhei Miyashita, AI Lab, UZH and CMU
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Contents
• Basic ideas: the four messages of embodiment
• Applications: Service- and companion-robots
• Where are we going? — “Soft robotics”• A look into the future: self-assembly • Take home message
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Summary and conclusions
Key to “soft robotics”:
understanding of “embodiment”
—> the “four messages”
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Summary: The four messages of embodiment
Message 1: Physical embedding Understanding brain not enough; morphology materials; embedding
Message 2: Real/Artificial worlds Fundamental differences industrial and real-world environments
Message 3: Task distributionCooperation - brain, body, environment
Message 4: Physical dynamics and information structure Induction of information structure; dependence on morphology and control 85
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Like to know more?
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Visit us in Zurich
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or read THE book
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or read THE book
what book?!??
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Read
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Rolf Pfeifer and Josh Bongard
How the body shapes the way we think — a new view of intelligence(popular science)
MIT Press, 2007
Illustrations by Shun Iwasawa
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Chinese translation
Translated byWeidong ChenShanghai Jiao Tong UniversityandWenwei YuChiba University, Japan
Foreword byLin ChenChinese Academy of Science
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translated byKoh Hosoda, Osaka University
andAkio Ishiguro, Tohoku University
to appear soon
How How the body shapes the way we think : a new view of intelligence
How the body shapes the way we think : a new view of intelligence
How 知能の知能原理
we think : a new view of
身体性に基づく構成論的アプローチ
知能の原理
R. Pfeifer, J. B
ongard
著
細田
耕・石黒
章夫
訳
身体性に基づく
構成論的アプローチ
R. Pfeifer, J. Bongard 著細田 耕・石黒 章夫 訳
アタリ
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or joinThe ShanghAI Lectures
93
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or joinThe ShanghAI Lectures
• global lecture series on natural and artificial intelligence
• video conference with 20 universities• 3D virtual collaborative environments for
classwork with 40 universities • intercultural cooperation on interdisciplinary
topic
The ShanghAI Lectures, Sept to Dec 2011(from the University of Zurich)
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Participating Universities 2010Time Zones
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• Stanford• USC • UC Irvine
• NY Citytech• Vermont • Michigan
• Sao Paolo
• Salford• Manchester• Essex • Edinburgh
• Algiers
• UZH• ETHZ• EPFL• HSG• HSLU• TU Munich• LMU• Hamburg• Tallinn
• Shanghai• Beijing• Xi’an• Hosei• Osaka• Chiba• Nagoya• Tohoku• SKKU (Korea)• NTU (Singa)
• UTAS
• Herzlia• Jeddah • UAE
9am 4pm
5pm8am
7pm
11am
4am1am
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Participating Universities 2011Time Zones
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• Stanford• USC • UC Irvine
• NY Citytech• Vermont • Michigan
• Sao Paolo
• Salford• Manchester• Essex • Edinburgh
• Algiers
• UZH• ETHZ• EPFL• HSG• HSLU• TU Munich• LMU• Hamburg• Tallinn
• Shanghai• Beijing• Xi’an• Hosei• Osaka• Chiba• Nagoya• Tohoku• SKKU (Korea)• NTU (Singa)
• UTAS
• Herzlia• Jeddah • UAE
9am 4pm
5pm8am
7pm
11am
4am1am
3am•Queretaro
?
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The Zurich AI Lab
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Thank you for your attention!
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The Zurich AI Lab
1987 Foundation with 2 PhD students
2010 ca. 30 scientific staff (7 Postdocs und 20 PhD students, master students)
http://ailab.ifi.uzh.ch/
Funding:
EU-ICT (Information and Communication Technologies) (Cognitive Systems, FET — Future and Emergent Technologies)
University of Zurich
Swiss National Science Foundation
Private Sector, Sponsors
Foundations, CIAN (Club of Intelligent Angels)
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Research program
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dynamic movement and locomotion
biorobotics
learning, developmentneural modelinghumanoid robots
educational technology
designart, entertainment
self-organization,self-assembly
modular robotics
artificial evolutionmorphogenesis
theory ofintelligence
vis
ion
“life as itcould be”
gra
nd
go
al
theory ofintelligence
vis
ion
“life as itcould be”
gra
nd
go
al assistive robotics
prosthetics and neural interfacing
applications to business design
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Funding• University of Zurich, Switzerland
• Swiss FNS:- From locomotion to cognition- Dynamical coupling in motor-sensory function substitution- From morphology to functionality- Swiss National Competence Center, for Research (NCCR) Robotics
• EU-FET: - Locomorph- Octopus- Extended Sensory-Motor Contingencies- iCub (finished)
• EU-Cognitive Systems:- ECCERobot- Amarsi- EU-Cog II/III
• Private funding/others:- CIAN (Club of Intelligent Angels)- Maxon Motor- Festo- Hasler Foundation- Switch- Awtech 101
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Research program
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dynamic movement and locomotion
biorobotics
learning, developmentneural modelinghumanoid robots
educational technology
designart, entertainment
self-organization,self-assembly
modular robotics
artificial evolution
morphogenesis
assistive roboticsprosthetics and
neural interfacing
applications to business design
LocomorphOctopus
LocognitionMorpho-function
iCubECCERobot
AmarsiRobodoc
Dyn. CouplingALP
Prosthetic hand
REAL
Artists in LabInteractive installations
Scalableself-assemby
PACE
The ShanghAILectures
Industrial designand business
theory ofintelligence
vis
ion
“life as itcould be”
gra
nd
go
al
theory ofintelligence
vis
ion
“life as itcould be”
gra
nd
go
al
EU-Cog II
NCCR RoboticsStarted: Dec. 2010
(Switzerland)
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NCCR: 12 year perspective
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EPFLUniversity of Zurich
ETH Zurich
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The Zurich AI Lab — Spin-offs
• Neuronics• Dynamic Devices • Starmind Innovation• Enexra inc.
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Perception as embodied:The rotating dancer
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Outsourcing? Insourcing?
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Chinese textile workersdiscover their power
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