subsumption embedded systems lecture #2grupen/503/slides/503...embedded systems lecture #2...

Laboratory for Perceptual Robotics – Department of Computer Science

Embedded SystemsLecture #2

Supervisory Control Architectures

2Laboratory for Perceptual Robotics – Department of Computer Science

Subsumption

3Laboratory for Perceptual Robotics – Department of Computer Science

Finite State Supervisors

MIT Leg Lab – Marc Raibert (circa 1995)

Hopping Machines – Dynamics and Control

4Laboratory for Perceptual Robotics – Department of Computer Science

Dynamics, Decision, and Control

MIT Leg Lab – Marc Raibert, Gill Pratt

5Laboratory for Perceptual Robotics – Department of Computer Science

Communication and Coordinated Action

if robot j is seeking an external goal:

“pull” relationφ

jφ

ig g(j)

“push” relation

φjφ

jg g(i) world

robot jφ LOS(j)

robot iφ world

robot iφ

• Moore-Penrose (null space) operator to mediate control interactions

6Laboratory for Perceptual Robotics – Department of Computer Science

Finite State Supervisors and Concurrent Control

φ φalert φbitefoodRND

nestφ

1XXX X111

p = [nest food alert bite]

swarm simulation

Attack/RepelOecophylla longinoda(African weaver ant)

2-Butyl-2-octenal(bite)

3-Undecanone(attract/bite)

1-Hexanol(attract)

Hexanal(alert)

1 cm

small:~grupen/C/ants/x

7Laboratory for Perceptual Robotics – Department of Computer Science

Example: ROTATE schema

8Laboratory for Perceptual Robotics – Department of Computer Science

Integrated Behavior

4 states, 2 actions

Twist control (R3) with two choices for the“effector”

• ROTATE schema• STEP schema

Laboratory for Perceptual Robotics – Department of Computer Science

Extension to Irregular Terrain

10Laboratory for Perceptual Robotics – Department of Computer Science

Bimanual Motor Sequences

φg

φgφK

φgφT

φgφg’

φg’

Laboratory for Perceptual Robotics – Department of Computer Science

Dexter’s Bimanual Grasp Null Space MDP