Cognitive Robotics: A Curriculum for Machines that See and Manipulate their World

认知机器人：为机器观察和操纵世界的课程

• 批准号: 0717705
• 负责人: David Touretzky
• 金额: --
• 依托单位: Carnegie-Mellon University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2007
• 资助国家: 美国
• 起止时间: 2007-09-01 至 2011-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0717705&HistoricalAwards=false
• 关键词: Cognitive; Robotics; Curriculum; Machines; See

Computer Science (31)This project is extending the Tekkotsu open source robot programming framework developed in the PI's lab (see Tekkotsu.org) by creating new primitives for manipulation and for control of posture and balance, and by further enriching the existing repertoire of primitives for vision processing, mapping, and navigation. It also is providing the first systematic study of how a higher level approach to robot programming influences educational outcomes. This project is developing software and course materials that foster a new, higher-level approach to introductory robotics for undergraduates, called "cognitive robotics." Cognitive robotics courses are already offered at Carnegie Mellon, Spelman College, and several other schools with which the PI is collaborating. The project is promoting the wider adoption of cognitive robotics curricula by offering workshops at Carnegie Mellon for computer science educators, making presentations at conferences such as SIGCSE and AAAI, disseminating open source software and educational materials via the web, and creating a cognitive robotics textbook.Until recently, undergraduate robotics courses have been limited by inexpensive platforms which provide only meager sensors and minimal processing power. Such courses have therefore tended to focus on mechanical construction activities and programming simple reactive behaviors such as wall following. While some platforms provide for an optional video camera, image processing support has typically been limited to crude blob detection, not true computer vision. In cognitive robotics, students use more sophisticated robots that can see and recognize objects, physically manipulate them, build a map of the environment, and navigate on that map. The Sony AIBO robot dog was the first platform suitable for this approach, but other capable platforms are now becoming available. Undergraduates can be taught to program these robots using high-level primitives that draw inspiration from ideas in cognitive science. This allows even beginning roboticists to explore interesting problems in perception and manipulation while the complexities of advanced image processing and motor control are taken care of for them.

计算机科学（31）该项目正在扩大在PI实验室中开发的Tekkotsu开源机器人编程框架（请参阅Tekkotsu.org），通过创建用于操纵和控制姿势和平衡的新原始素，并进一步丰富现有的用于视觉处理，映射，绘图，绘图以及导航原始原始图。它还提供了第一个系统的研究，该研究是关于更高级别的机器人编程如何影响教育成果的系统研究。该项目正在开发软件和课程材料，该软件和课程材料促进了一种新的高级方法来为本科生的入门机器人技术，称为“认知机器人技术”。卡内基·梅隆（Carnegie Mellon），斯佩尔曼学院（Spelman College）和其他几所PI合作的学校已经提供了认知机器人课程。 The project is promoting the wider adoption of cognitive robotics curricula by offering workshops at Carnegie Mellon for computer science educators, making presentations at conferences such as SIGCSE and AAAI, disseminating open source software and educational materials via the web, and creating a cognitive robotics textbook.Until recently, undergraduate robotics courses have been limited by inexpensive platforms which provide only meager sensors and最小处理能力。因此，此类课程倾向于专注于机械施工活动和编程简单的反应性行为，例如墙壁。尽管某些平台提供了可选的摄像机，但图像处理支持通常仅限于粗斑点检测，而不是真正的计算机视觉。在认知机器人技术中，学生使用更复杂的机器人，可以看到和识别对象，物理操纵它们，构建环境地图并在该地图上导航。索尼Aibo机器人狗是第一个适合这种方法的平台，但是其他有能力的平台正在可用。可以教授本科生使用高级基础来对这些机器人进行编程，从而从认知科学的思想中汲取灵感。这甚至允许开始机器人主义者在感知和操纵中探索有趣的问题，而高级图像处理和电动机控制的复杂性也得到了照顾。