Social robot controllers - Robot controllers
10 important questions on Social robot controllers - Robot controllers
What are the three paradigms for controlling a robot?
2. Reactive (Sense <> Act)
3. Hybrid deliberate / reactive (Plan <> Sense <> Act)
What is a robot controller?
Define the steps of a hierarchical controller
Plan is a logic/neural/rule based engine to decide actions
Act drives the robot's motor behaviour
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What was meant by Brooks (1990) when he said Elephants don't play chess?
- Senses capture analog signals
- behaviour not captured in clear-cut logics
- Actions don't result in discrete changes of environment
What are the physical grounding hypothesis from Brooks (1999)?
- Symbolic representations not necessary (all there is to know is captured by sensing the world)
- Intelligent systems build from bottom-up processes (goals/ desires expressed as physical actions, all knowledge extracted from physical sensors
Brooks (1990) was presenting a Reactive controller, how does this work?
What was the subsumption architecture Brooks (1986) was purposing?
- Higher levels subsume (ie. Include) the lower levels
What did the layers of control of subsumption architecture look like?
- Higher levels can subsume the lower levels
How does the Hybrid controller acts?
What paradigm for controlling a robot is used for cognitive robotics (Embodied AI) ?
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