Stanford University 1995-1999 University of Tokyo JSK Lab - - PowerPoint PPT Presentation

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Stanford University 1995-1999 University of Tokyo JSK Lab - - PowerPoint PPT Presentation

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James Kuffner Google Research & The Robotics Institute Carnegie Mellon University Digital Human Research Center (AIST) 1 James Kuffner (CMU/Google) Cloud Robotics and the Future of Distributed Intelligence IROS2011

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

Digital Human Research Center (AIST)

James Kuffner

Google Research & The Robotics Institute Carnegie Mellon University

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  • Stanford University

1995-1999

  • University of Tokyo

JSK Lab 1999-2001

  • Carnegie Mellon University

The Robotics Institute 2001-present

  • Digital Human Research Center (AIST)

2001-present

H5 H6 H7 Asimo HRP2 HRP3 2

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

qinit qgoal qnew qtarget qnear

“RRT-Connect” [ Kuffner, LaValle ICRA ‘00] 4

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

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CMU PhD thesis: Rosen Diankov

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

Automatic Regrasping (2006)

[ Berenson, Diankov, Nishiwaki, Kagami, Kuffner ] Humanoids2007

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

http://openrave.programmingvision.com/

  • OR -

http://www.sourceforge.net/ keyword: “openrave”

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

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  • Modeling Object Pose Error

CMU PhD thesis: Rosen Diankov

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

CMU PhD thesis: Rosen Diankov

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

CMU PhD thesis: Rosen Diankov

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

[ Berenson, Chestnutt, Srinivasa, Kagami, Kuffner , Humanoids2009 ]

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

?

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

Larry Page

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  • Documents “live”

in the cloud

(backed up and accessible anywhere)

  • Netbook
  • Supercomputing:

(Heavy CPU or

data-intensive processing handled by distributed network)

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  • Physical separation of Hardware (motors &

sensors) and Software (high-level processes)

JSK (U.Tokyo) mini-Humanoids (1990s)

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  • Human acts as

the “remote-brain”

  • Not suitable for

all tasks

  • Issues:

– Latency – Data Bandwidth

NAIST-Hand I

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  • “DAvinCi: A cloud computing framework for service

robots” [ Arumugam, et. Al. , ICRA 2010 ]

  • RoboEarth
  • Cloud Robotics at Google I/O (May 2011)

HRP3 (AIST/Kawada) Google DataCenter

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  • Wireless networking:

– Fast – Reliable – Ubiquitous – Sufficient bandwidth

(e.g: Mobile Broadband 64 kbps to 150 Mbps in 10 years = 2400x)

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  • Provides a shared knowledge database

– Organizes and unifies information about the world in a format usable by robots

  • Offloads heavy computing tasks to the cloud

– Cheaper, lighter, easier-to-maintain hardware (akin to desktop PC vs. a thin-client “netbook”) – Longer battery life – Less need for software pushes/updates – CPU hardware upgrades are invisible & hassle-free

  • Skill / Behavior Database

– reusable library of “skills” or behaviors that map to perceived task requirements / complex situations. – Data-mining the history of all cloud-enabled robots

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  • Cloud-enabled Object Recognition

– e.g. “Google Goggles”

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  • Upload image(s) ! Download Semantics

– Object name – 3D model, mass, materials, friction properties – Usage instructions (function, how to grasp, operate) – Context / Domain knowledge

ARMAR III (KIT)

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  • Recognition
  • Translation
  • Synthesis

Alex Waibel’s group (CMU & KIT) Conversation Mode on Android

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  • Statistical Machine Translation
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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  • Shared, highly-

detailed maps of the world stored in the cloud

  • Updates/

changes can be published and immediately used

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  • Navigation
  • Difficult task or

motion planning problems solved in the cloud

(e.g “God’s Number”)

  • 43,252,003,274,489,856,000 positions
  • 35 CPU-years used
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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  • An “App Store” for robots
  • Task ! Objects/Domain Info ! Usage

Instructions ! Behaviors/Motor Skills

“Contact Ryan”

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

  • AppInventor interface for Android phones and tablets
  • http://www.cellbots.com/
  • http://www.cloudrobotics.com/
  • ADK (Acessory Development Kit) for Android
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James Kuffner (CMU/Google)

Cloud Robotics and the Future of Distributed Intelligence IROS2011 Workshop: Knowledge Representation for Autonomous Robots

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http://code.google.com/p/rosjava/