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

计算机科学(31)这个项目正在扩展PI实验室(参见Tekkotsu.org)开发的Tekkotsu开源机器人编程框架，方法是创建用于操作以及控制姿势和平衡的新基元，并进一步丰富用于视觉处理、地图绘制和导航的现有基元库。它还提供了第一个关于更高水平的机器人编程方法如何影响教育结果的系统研究。该项目正在开发软件和课程材料，以促进本科生学习机器人入门的一种新的、更高层次的方法，称为“认知机器人”。认知机器人课程已经在卡内基梅隆大学、斯佩尔曼学院和其他几所与PI合作的学校开设。该项目正在推动认知机器人课程的更广泛采用，方法是在卡内基梅隆大学为计算机科学教育工作者举办研讨会，在SIGCSE和AAAI等会议上发表演讲，通过网络传播开源软件和教育材料，并创建认知机器人教科书。直到最近，本科机器人课程一直受到廉价平台的限制，这些平台只提供很少的传感器和最低的处理能力。因此，这类课程往往侧重于机械建造活动和编程简单的反应行为，如跟随墙。虽然一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略的斑点检测，而不是真正的计算机视觉。在认知机器人学中，学生们使用更复杂的机器人，这些机器人可以看到和识别物体，进行物理操作，构建环境地图，并在地图上导航。索尼AIBO机器狗是第一个适合这种方法的平台，但其他有能力的平台现在也在变得可用。本科生可以学习如何使用高级原语对这些机器人进行编程，这些原语从认知科学的思想中获得灵感。这使得即使是初学机器人的专家也可以探索感知和操作方面的有趣问题，同时还可以处理高级图像处理和运动控制的复杂性。

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.