Material(integrated,Intelligence,...

Material(integrated,Intelligence,for,Robot,Autonomy

Nikolaus)Correll

University)of)Colorado)at)Boulder

PhD)EPFL)2007)@)SWIS)(DISAL)

Robotics,then,and,now

1968 2016

@correlllab @correlllab

What’s)missing?

Components,of,Robotic,Systems

1.)Perception 2.)Planning)and)Control3.)Tight)integration)of)sensing,

Computation)and)actuation

Robotics Robotic)Materials


Robotic,Materials

M.)McEvoy and)N.)Correll.)Materials)that)couple)Sensing,) Actuation,)Computation) and)Communication.)Science,)2015.@correlllab @correlllab

Tight)integration)of)sensing,)actuation)and)computation)

inside(the)material

Advantages,of,distributed,computation

• High,bandwidth( sensing:)soft)robotic)skin

• High,speed(Feedback(control:)object)manipulation

• Distributed(computation:(optimization)

and)classification


Example,I:,Soft,Sensing,SkinRubbed)

Texture

Signal Microphone

FFT

Ambient)Signal

Signal)FFTMeasured)Signal Transient)Signal

Ambien

t*Up

date

1000)Hz


Real(time,localization,and,routing


Discrete,Computation:,DFT,and,filtering


ADC)

@1kHz

Continuous

Signal256)bytes)

FIFOS(f,t)=

f

256ms 15.9ms)on)Atmel)Xmega 128A3

0.6ms

Material)

Physics

D. Hughes, N. Correll (2015): Texture Recognition and

Localization in Amorphous Robotic Skin. In: Bioinspiration &Biomimetics, 2015.

Discrete,Computation:,Classification


Human)Skin Brillo

DFT)Spectrum

…Linear)regression

15*128)=)1920)weights

0.6ms

71.7%)accuracy

100)samples

10cfold)crosscvalidation

Example,II:,Shape,change,by,Variable,Stiffness• Octopus:)No)skeleton)c>)variable)stiffness)using)muscular)hydrostatsKier,)1985

• Arm)can)make)autonomous)

movementsGraziadei,)1965

• Redundant)mechanisms)pose)great)

load)on)motor)control)systemGutfreund,)2006

• 2/3rds)of)the)animal’s)neurons)in)

arms (peripheral)nerve)cord)Hochner,)2013


Hochner,) 2013

Variable,Stiffness,beam,with,embedded,computation


M.)A.)McEvoy,)N.)Correll)(2014):) "Thermoplastic)variable)stiffness)composites)with)embedded,)

networked)sensing,) actuation,)and)control.)In:)Journal)of)Composite)Materials.

Original)State Tune)specific)stiffness Apply)external)moment

Fix)beam)length)/)melt Freeze Repeat)for)negative)curvature

Thermal,properties,and,kinematics


Experimental,Results


Inverse,Kinematics

• Large)N)(DoF))require)iterative)methods

• Inverse(Jacobian Method• Calculate)small)changes)to)input)

that)reduce)error

• Move)into)that)direction)using)

gain)α• Repeat

• J)is)a)3xN)matrix,)pseudoc

inverse)is)NxN c>)O(N3)

g

s(κ)


Distributed,Computation,of,Matrix,Inverse

• Distributed)algorithm)requires)

O(log)N))time

• Problem:)requires)O(N4))

computers

• Idea:)reduce)arm)to)multiple)

M<<N)DoF systems)and)solve)

sequentially

3)DoF 3)DoF

3)DoF


M. A. McEvoy, N. Correll (2016): Distributed Inverse Kinematics for Shape-Changing Robotic Materials . In:3rd International Conference on System-integrated Intelligence: New Challenges for Product and Production Engineering , Paderborn, Germany. (Best Paper)

Convergence,properties


Likelihood) to)find)a)solution Average)error Required)iterations

Scalability)improves) from)O(N3))to)O(M3N))

Example,III:,Manipulation,and,Feedback,Control


17


N.)Farrow,)N.)Correll)(2015):)A)SelfcContained)Soft)Pneumatic)Actuator)that)can)sense)touch)

and)grasp.)Int.)Conf.)on)Intelligent)Robots)and)Systems)(IROS).)

Active,complianceInitial)grasp

(bad)force)closure)

After)wiggling

(good)force)closure)

Nicholas) Farrow,)Yang)Li)and)Nikolaus) Correll.)“Morphological) and)Embedded)Computation) in)a)A)Selfc

contained)Soft)Robotic)Hand”.)arXiv:1605.00354

Challenging,graspsPower)grasps)(easy) medium Pinching)grasps)(hard)

Combined,distance,and,force,sensing

R.)Patel)and)N.)Correll.)Integrated)force)and)distance)sensing) for)robotic)manipulation) using)elastomerc

embedded) commodity)proximity) sensors.)``Robotics:)Science)and)Systems'')(RSS),)2016.

Tactile,and,distance,sensing,during,grasping

1.)Approach

2.)Align

3.)Contact

4.)Loading

5.)Disturbance

(wrench)

6.)Disturbance

(tapping)

7.)Replacement

8.)Release

R.)Patel)and)N.)Correll.)Improving)grasp)performance)using)inchand)proximity)and)

force)sensing.)Int.)Symposium) on)Experimental)Robotics)(ISER),)2016.

Contact,sensing,and,3D,scanning

Contact)sensing 3D)scanning

Whole(body,sensing:,social,touch,and,collision,avoidance

D.)Hughes,)N.)Farrow,)H.)Profita,)N.)Correll (2015): Detecting)and)Identifying)

Tactile)Gestures)using)Deep)Autoencoders,)Geometric)Moments)and)Gesture)

Level)Features. ACM)International)Conference)on)Multimodal) Interaction,)

Recognition)of)Social)Touch)Gestures)Challenge, Seattle,

Key,Challenge:,Manufacturing,Robotic,materials,economically


Multi(modal,manufacturing

• Combine)additive)and)

subtractive)manufacturing)

techniques

• Use)robots)for)precise)placement)of)components)

and)interconnects

• Use)robots)to)provide)the)“glue”)between)different)

manufacturing)steps

Conclusion• Distributed solutions)for)classification,)optimization)

and)control)problems

• Scalable*with)the)number)of)elements

• Robust*against)failures)of)individual)elements

• Distributed,)Scalable,)Robust:)Autonomous)Material

• Challenges• What’s)the)underlying)science)of)autonomous)materials

• What)kind)of)autonomy)would)otherwise)not)possible

• What)are)the)lowchanging)fruits)relevant)to)industry)now


Acknowledgements

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