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1、Robotics:OutlineEmbodimentTerminologyOpen-loopvs.closedloopcontrolKinematics,InverseKinematicsPIDcontrolGoingPastInverseKinematicsResourcesChapter25,MaintextbookNiku,S.B.(2001).IntroductiontoRobotics:Analysis,Systems,Applications.PrenticeHallRehg,J.(1985).IntroductiontoRoboti
2、cs:ASystemsApproach.PrenticeHall.Forward,inversekinematicsExamplefrompp.97-98ofAMathematicalIntroductiontoRoboticManipulationbyMurray,R.M.,Li,Z.,&Sastry,S.S.(1993).CRCPress.2ndsetofPIDcontrolimagesfromhttp://www.engin.umich.edu/group/ctm/PID/PID.htmlControltheoryhttp://en.wik
3、ipedia.org/wiki/Control_theorySeealsoPfeifer,R.&Bongard,J.(2006).HowtheBodyShapestheWayWeThink:ANewViewofIntelligence.MITPress.EmbodimentThefactofhavingabody,anditsassociatedproperties,e.g.,sensorsandmotors(effectors)Recall:PhysicalGroundingHypothesisPhysicalGroundingHypothes
4、is“tobuildasystemthatisintelligentitisnecessarytohaveitsrepresentationsgroundedinthephysicalworld”(Brooks,1999,p.114).Grounding:connectinganAIsystemtotheworldusingasensory-motorsystemBrooks,R.A.(1999).CambrianIntelligence:TheEarlyHistoryoftheNewAI.Cambridge,MA:MITPress.(Thank
5、stoRolfPfeifer,www.ifi.unizh.ch/staff/pfeifer/)Embodiment-2“Searlearguedthatthemainreasonforthefailureofstrong(traditional)AIwasthatitisconcernedwithcomputerprograms,but‘hasnothingtotellusaboutmachines’(Searle,1980),i.e.physicalsystemssituatedinandcausallyconnectedtotheirenvi
6、ronments.”(Ziemke,2001)EffectorsRobotshaveacertainnumberofdegreesoffreedom(DOF)VariabilityinwhichtheycanmoveEachjointisadegreeoffreedomTypicallyinterestedincontrollableDOF’sSixDOFneededtoplaceanobjectataparticularplaceinaparticularorientationNeedtospecify(x,y,z)andpan,tilt,ya
7、wEnd-effectorHandlesobjects,makesconnectionstoothermachinesActuator“muscles”ofthemanipulator,e.g.,servomotors,steppermotor,hydraulics,pneumaticsMoreTermsMobileRobotRobotsthatmoveabouttheirenvironmentControlTheoryPlant“manufacturingplant”Whatisbeingcontrolled,thephysicalrobots
8、tructureControl(aka.controller)The“brain”Oftensoftware,butmayinvolve
