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

计算机科学（31）该项目正在扩展PI实验室开发的Tekkotsu开源机器人编程框架（见Tekkotsu.org），通过创建新的操作原语以及姿势和平衡控制原语，并进一步丰富现有的视觉处理原语库，映射和导航。它还首次系统地研究了更高层次的机器人编程方法如何影响教育成果。该项目正在开发软件和课程材料，为本科生提供一种新的、更高层次的机器人入门方法，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合作的学校提供。该项目通过在卡内基梅隆大学为计算机科学教育工作者提供研讨会，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，以及创建认知机器人教科书，促进认知机器人课程的更广泛采用。本科生机器人课程受到廉价平台的限制，这些平台仅提供很少的传感器和最小的处理能力。因此，这些课程往往侧重于机械施工活动和编程简单的反应行为，如墙壁。虽然一些平台提供了可选的摄像机，但图像处理支持通常限于粗糙的斑点检测，而不是真正的计算机视觉。在认知机器人中，学生使用更复杂的机器人，可以看到和识别物体，物理操纵它们，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可以使用。本科生可以学习使用高级原语来编程这些机器人，这些原语从认知科学的思想中汲取灵感。这使得即使是开始机器人专家探索有趣的问题，在感知和操纵，而先进的图像处理和电机控制的复杂性是照顾他们。

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.