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![Page 1: An Implementation of Artificial Physics Using AIBO Robots and the Pyro Programming Environment Ankur Desai December 7, 2006.](https://reader036.fdocuments.net/reader036/viewer/2022083007/56649e8f5503460f94b93fb0/html5/thumbnails/1.jpg)
An Implementation of Artificial Physics Using
AIBO Robots and the Pyro Programming Environment
Ankur Desai
December 7, 2006
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Naval Research Laboratories Artificial Intelligence Center
4555 Overlook Ave., SWWashington, DC 20375
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Mitchell A. Potter, Ph.D.
Principal Investigator
Evolutionary RoboticsCoevolutionary ModelsRepresentation IssuesContinuous and Embedded Learning
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Adaptive Systems Team
Shared lab space
Variety of robotic equipment
No wireless communications
Upcoming anniversary demonstration
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Rationale
Divide tasks between multiple robots
Based on natural behaviors
Unified platforms
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Purpose
Determine whether AIBO is an effective platform for artificial physics
Create Python module to control the AIBO robots
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Artificial Physics
Developed by Spears and Gordon in 1999
Each robot treated as a molecule
Gravitational forces simulated
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Artificial Physics
Grid formation Resource protection
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Sony AIBO
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Python Robotics
Interpreted language
Platform-blind
High-level control
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Testing Design
Straight line accuracy
Turning accuracy
Correct functioning of simulationNo testing necessary
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Materials
SoftwareSWIGTekkotsuPyro
Seven AIBO robots
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Procedures – Python module
Build C library object files
Create SWIG wrapper
Compile wrapper into dynamic library
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Procedures – OdometrySetup
Place AIBO in empty roomConnect to host computer
Send commandWalk 10 metersTurn 360°
Measure actual motion
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Straight Line Results
0
2
4
6
8
10
12
Accuracy of Straight Line Odometry
WalkCrawl
Trial
Dis
tan
ce (
m)
Accuracy of Straight Line Odometry Data
10 9.44 -5.6 9.86 -1.410 4.7 -53 10.92 9.210 6.04 -39.6 5.68 -43.210 10.46 4.6 9.14 -8.610 5.24 -47.6 7.46 -25.410 10.7 7 3.6 -6410 9.42 -5.8 10.68 6.810 4.8 -52 10.42 4.210 6.5 -35 7.22 -27.810 4.24 -57.6 9.9 -1
Expected (meters)
Measured Walking (m)
Error (%)
Measured Crawling (m)
Error (%)
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Turning Results
0
50
100
150
200
250
300
350
400
450
Accuracy of Turning Odometry
WalkCrawl
Trial
An
gle
(°)
Accuracy of Turning Odometry Data
Error (%) Error (%)360 220 -38.89 320 -11.11360 340 -5.56 250 -30.56360 190 -47.22 230 -36.11360 390 8.33 170 -52.78360 360 0 400 11.11360 330 -8.33 260 -27.78360 340 -5.56 390 8.33360 380 5.56 220 -38.89360 230 -36.11 340 -5.56360 360 0 190 -47.22
Expected (degrees)
Measured Walking (°)
Measured Crawling (°)
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Conclusion
Python module successful
AIBO is not a suitable platform
Alternate localization techniques
Use of different robotic models
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Reflections
Overall positive experience
Delayed security clearance
Limited wireless access
Difficult commute
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Acknowledgments
I would like to thank the Adaptive Systems team at Naval
Research Laboratories Artificial Intelligence Center,
especially Mitchell Potter and R. Paul Wiegand, for their
guidance and support throughout this project.
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Literature CitedBlank, D., Meeden, L., & Kumar, D. (2003). Python robotics: An environment for exploring robotics beyond LEGOs. SIGSCE ’03, 35, 317-3121.Ikemoto, Y., Hasegawa, Y., Fukuda, T., & Matsuda, K. (2005). Gradual spatial pattern formation of homogeneous robot group. Information Sciences, 171, 431-445.Lee, M. (2003). Evolution of behaviors in autonomous robot using artificial neural network and genetic algorithm. Information Sciences, 155, 43-60.Oliveira, E., Fischer, K., & Stepankova, O. (1999). Multi-agent systems: Which research for which applications. Robotics and Autonomous Systems, 27, 91- 106.Röfer, T., & Jüngel, M. (2003). Fast and robust edge-based localization in the Sony four-legged robot league. In Polani, D., Browning, B., Bonarini, A., & Yoshida, K. (Eds.), RoboCup 2003: Robot soccer world cup VII (pp. 262-273). Berlin: Springer.Spears, W. M., & Gordon, D. F. (1999). Using artificial physics to control agents. 1999 International Conference on Information Intelligence and Systems, 1999, 281- 288.Tira-Thompson, E. J., Halelamien, N. S., Wales, J. J., & Touretzky, D. S. (2004). Tekkotsu: Cognitive robotics on the Sony AIBO. Proceedings of the Sixth International Conference on Cognitive Modeling, 6, 390-391.