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Rolf pfeifer conferencia magistral
1. “Soft Robotics”
Self-organization, embodiment,
and biological inspiration
The four messages of embodiment
Tecnológico de Monterrey Campus Querétaro
22 February 2011
Rolf Pfeifer, Artificial Intelligence Laboratory
Department of informatics, University of Zurich, Switzerland
Freitag, 4. März 2011
2. Thanks to ...
Hajime Asama Masayuki Inaba
Rudolf Bannasch Akio Ishiguro
Josh Bongard Oussama Kathib
Simon Bovet Alois Knoll
Rodney Brooks Yasuo Kuniyoshi
Weidong Chen Lukas Lichtensteiger
Steve Collins Max Lungarella
Holk Cruse Ren Luo
Paolo Dario Shuhei Miyashita
Raja Dravid Norman Packard
Rodney Douglas Mike Rinderknecht
Peter Eggenberger Roy Ritzmann
Martin Fischer Andy Ruina
Dario Floreano Giulio Sandini
Toshio Fukuda Olaf Sporns
Robert Full Luc Steels
Gabriel Gomez Russ Tedrake
Fumio Hara Esthen Thelen
Alejandro Hernandez Sethu Vijakyakumar
Owen Holland Ruediger Wehner
Koh Hosoda Martijn Wisse
Fumiya Iida Hiroshi Yokoi
Auke Ijspeert Wenwei Yu
Takashi Ikegami Marc Ziegler
Freitag, 4. März 2011
3. … for their ideas
Hajime Asama Masayuki Inaba
Rudolf Bannasch Akio Ishiguro
Josh Bongard Oussama Kathib
Simon Bovet Alois Knoll
Rodney Brooks Yasuo Kuniyoshi
Weidong Chen Lukas Lichtensteiger
Steve Collins Max Lungarella
Holk Cruse Ren Luo
Paolo Dario Shuhei Miyashita
Raja Dravid Norman Packard
Rodney Douglas Mike Rinderknecht
Peter Eggenberger Roy Ritzmann
Martin Fischer Andy Ruina
Dario Floreano Giulio Sandini
Toshio Fukuda Olaf Sporns
Robert Full Luc Steels
Gabriel Gomez Russ Tedrake
Fumio Hara Esthen Thelen
Alejandro Hernandez Sethu Vijakyakumar
Owen Holland Ruediger Wehner
Koh Hosoda Martijn Wisse
Fumiya Iida Hiroshi Yokoi
Auke Ijspeert Wenwei Yu
Takashi Ikegami Marc Ziegler
Freitag, 4. März 2011
4. Goals
buzzword “embodiment”
seeing things differently
4
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5. Contents
• Basic ideas: the four messages of
embodiment
• Applications: Service- and companion-
robots
• Where are we going? — “Soft robotics”
• A look into the future: Self-assembly
• Take home message
5
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12. “Crazy Bird” — Morphology,
Control
loosely hanging feet
rubber/plastic
Design and construction:
Mike Rinderknecht
8
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13. Message 1: Physical embedding
Studying brain (or control) not sufficient:
Understanding of
• embedding of brain into organism
• organism’s morphological and material
properties
• interaction with environment
required
9
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14. Let me be clear
The brain is important!
10
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15. Let me be clear
The brain is important!
but not the whole story ...
11
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22. AI Lab Robots
(exploration of morphology)
18
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23. Two views of intelligence
classical:
cognition as computation
embodiment:
cognition emergent from sensory-
motor and interaction processes
19
Illustrations by
Shun Iwasawa
Freitag, 4. März 2011
24. Successes and failures of the
classical approach
successes failures
applications (e.g. foundations of
Google) behavior
chess natural forms of
intelligence
consumer
electronics interaction with
real world
etc.
20
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25. Message 2: Real/Artificial worlds
Understanding of differences between
industrial robots and humans/animals and
their environments
21
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26. Industrial environments vs.
real world
industrial real world
environments environment
environment limited knowledge
well-known and predictability
little uncertainty rapidly changing
predictability high-level of
uncertainty
22
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27. Industrial robots vs.
natural systems
principles:
- strong, precise, fast motors
- centralized control
- optimization
- computing power
Industrial robots
23
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28. Industrial robots vs.
natural systems
principles:
- low precision
- compliant humans
- control distributed
throughout body
- reactive
- coping with
uncertainty
no direct transfer of methods
24
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29. Transferring methods
Sony Qrio:
high stiffness
centralized control
conputationally intensive
25
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30. Transferring methods
Sony Qrio:
high stiffness
centralized control
conputationally intensive
25
Freitag, 4. März 2011
31. Transferring methods
Sony Qrio:
high stiffness
centralized control
conputationally intensive
25
Freitag, 4. März 2011
32. Transferring methods
Sony Qrio:
high stiffness
centralized control
conputationally intensive
25
Freitag, 4. März 2011
33. By comparison: The “Passive
Dynamic Walker”
Design and construction:
Ruina, Wisse, Collins: Cornell University
Ithaca, New York The “brainless” robot”:
walking without control
26
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34. By comparison: The “Passive
Dynamic Walker”
Design and construction:
Ruina, Wisse, Collins: Cornell University
Ithaca, New York The “brainless” robot”:
walking without control
26
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35. By comparison: The “Passive
Dynamic Walker”
self-stabilization
Design and construction:
Ruina, Wisse, Collins: Cornell University
Ithaca, New York The “brainless” robot”:
walking without control
27
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36. By comparison: The “Passive
Dynamic Walker”
self-stabilization
Design and construction:
Ruina, Wisse, Collins: Cornell University
Ithaca, New York The “brainless” robot”:
walking without control
27
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37. Implications of embodiment
Self-stabilization
Passive Dynamic Walker
Pfeifer et al.,Science,
16 Nov. 2007
28
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38. Implications of embodiment
Self-stabilization
Passive Dynamic Walker
Pfeifer et al.,Science,
16 Nov. 2007
29
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39. Implications of embodiment
Self-stabilization
Passive Dynamic Walker
self-stabilization
Pfeifer et al.,Science,
16 Nov. 2007
30
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40. Short question
memory for walking?
31
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42. Extending the
ecological niche
Design and construction:
Martijn Wisse, Delft University
self-stabilization
33
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43. Extending the
ecological niche
Design and construction:
Martijn Wisse, Delft University
self-stabilization
33
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44. Implications of embodiment
Self-stabilization
“Denise”
self-stabilization
Pfeifer et al.,Science,
16 Nov. 2007
34
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45. Message 3: Task distribution
Task distribution between brain (control),
body (morphology, materials), and
environment
morphological
computation
35
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46. Message 3: Task distribution
Task distribution between brain (control),
body (morphology, materials), and
environment
no clear separation between control and
hardware (“soft robotics”)
morphological
computation
36
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47. “Stumpy”: task distribution
almost brainless: 2 actuated joints
springy materials
surface properties of feet
Design and construction: Raja Dravid,
Chandana Paul, Fumiya Iida
self-stabilization
37
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48. The dancing robot “Stumpy”
Collaboration with Louis-Philippe Demers, Nanyang
Technological University, Singapore
Movie:
Dynamic
Devices and
AILab, Zurich
38
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49. The dancing robot “Stumpy”
Collaboration with Louis-Philippe Demers, Nanyang
Technological University, Singapore
Movie:
Dynamic
Devices and
AILab, Zurich
38
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50. Outsourcing
functionality
Mini-rHex
Design and construction:
Robin Guldener, Lijin Aryananda
soft, flexible,
elastic materials
39
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51. Outsourcing
functionality
Mini-rHex
Design and construction:
Robin Guldener, Lijin Aryananda
soft, flexible,
elastic materials
39
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52. The “robot frog” driven by
pneumatic actuators (UTokyo)
Design and construction:
Ryuma Niiyama and
Yasuo Kuniyoshi
University of Tokyo
40
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53. The “robot frog” driven by
pneumatic actuators (UTokyo)
Design and construction:
Ryuma Niiyama and
Yasuo Kuniyoshi
University of Tokyo
40
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54. Grasping
• many ways
• winding spring
• release
• exploited by brain
“outsourcing” of functionality
distribution of control through body
“free”
41
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56. Adding sensors: generation of
sensory stimulation through action
• knowledge about environment:
pressure, haptic, acceleration, vision, ...
• knowledge about own body:
angle, torque, force, vestibular, …
43
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57. Message 4: Physical dynamics
and information structure
Induction of patterns of sensory stimulation
through physical interaction with environment
raw material for information processing of
brain (control)
induction of correlations (information
structure)
44
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58. Loosely swinging arm
• preferred trajectories
• biomechanical constraints
(morphology, materials)
elbow joint:
passive, self-organizes into proper trajectory
45
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59. Loosely swinging arm
• preferred trajectories
• biomechanical constraints
(morphology, materials)
purpose?
elbow joint:
passive, self-organizes into proper trajectory
46
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60. Fitting it all together:
the“story”
• exploration
• biomechanical constraints (morphology, materials)
• preferred trajectories
• generation of rich useful data
• induction of information structure (self-structuring)
• learning
• cross-modal associations (predictions)
47
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62. The super-compliant robot ECCE
Design and construction:
Rob Knight — robotstudio, Geneva
Richard Newcombe — Imperial College
Owen Holland — Essex/Sussex University
Hugo Marques, Cristiano Alessandro, Max
Lungarella — UZH, experiments
ECCE — Embodied Cognition
in a Compliantly Engineered
Robot
Anthropomorphic
49
design
Freitag, 4. März 2011
63. The super-compliant
robot ECCE
ECCE — Embodied Cognition in a
Compliantly Engineered Robot
50
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65. i-Days, Lucerne
Switzerland
September 2010
52
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66. Hannover Fair, ICT Brussels,
Science Fair St. Agrève, France
53
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67. ECCE with Doris Leuthart, president
of Switzerland: Innovation Fair 2010
Design and construction:
der “bionische Roboter” Rob Knight — robotstudio, Geneva
Richard Newcombe — Imperial College
Owen Holland — Essex/Sussex University
Jaan Spitz, Pascal Kaufmann — UZH
Hugo Marques, Cristiano Alessandro, Max
Lungarella — UZH, experiments
ECCE — Embodied Cognition
in a Compliantly Engineered
Robot
Anthropomorphic
54
design
Freitag, 4. März 2011
72. Essence
• self-structuring of sensory data through —
physical — interaction with world
• physical process, not computational
pre-requisite for learning
Inspiration:
John Dewey, 1896 (!)
Merleau-Ponty, 1963
Bajcsy, 1963; Aloimonos, 1990; Ballard, 1991
Sporns, Edelman, and co-workers
Thelen and Smith (developmental studies)
57
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73. Contents
• Basic ideas: the four messages of
embodiment
• Applications: Service- and companion-
robots
• Where are we going? — “Soft robotics”
• A look into the future: self-assembly
• Take home message
58
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74. Applications
• classical/algorithmic:
chess, search engines, data mining,
appliances, control, etc.
• embodied/robots in real world:
entertainment, education (edutainment),
service, medical, hazardous
environments, etc.
59
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76. The flute playing robot
Roboter WF-4
Design and construction:
Waseda University,
Tokyo
61
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77. The flute playing robot
Roboter WF-4
Design and construction:
Waseda University,
Tokyo
61
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78. Recptionist at last World Expo
Design and construction:
Osaka University, and
Kokoro Dreams
62
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79. Recptionist at last World Expo
Design and construction:
Osaka University, and
Kokoro Dreams
62
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80. The robot teacher Saya
(Hiroshi Kobayashi,
Univ. of Science, Tokyo)
63
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81. Support Suits
Exoskeletons
paralyzed individual to climb
Breithorn (Switzerland)
HAL, the “Hybrid
Exoskeleton Assistive Limb ®”
64
Cyberdyne Inc.
Freitag, 4. März 2011
82. Wheel chair: controlled by
brain waives
recognition of subject’s
intentions based on
analysis of non-invasive
EEG signals
Design and construction:
Jose del Millan, EPFL, Switzerland
65
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83. First prototype
Design and construction:
Konstantinos Dermitzakis
AILab, UZH
66
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84. First prototype
Design and construction:
Konstantinos Dermitzakis
AILab, UZH
66
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85. Fitness center of the ten, nine,
eight, …
future?
Robot development by Osaka
University and Kokoro Dreams
Japan
67
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86. Entertainment and sports
ALP: The Adaptive Leg Press
Design and
construction:
Max Lungarella
and Raja Dravid
68
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87. Entertainment and sports
ALP: The Adaptive Leg Press
Design and
construction:
Max Lungarella
and Raja Dravid
69
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88. Entertainment and sports
ALP: The Adaptive Leg Press
Design and
construction:
Max Lungarella
and Raja Dravid
69
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89. Contents
• Basic ideas: the four messages of
embodiment
• Applications: Service- and companion-
robots
• Where are we going? — “Soft robotics”
• A look into the future: self-assembly
• Take home message
70
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90. “Soft Robotics”
Soft to touch Soft movement Soft interaction Emotions
71
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91. “Soft Robotics”
Soft to touch Soft movement Soft interaction Emotions
- materials - elastic - soft movements - friendly
- soft skin compliant - social and interaction
- fur materials for cognitive skills with humans
- deformable muscles and - reactive - facial
tissue tendons - soft materials expression
- variable compl. - body
actuators posture
- expl. passive
dynamics
72
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92. The next “industrial revolution”
beyond traditional manufacturing
new manufacturing
hard robotics softbots technology
new industrial
revolution
73
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93. The next “industrial revolution”
beyond traditional manufacturing
manipulation skills
new manufacturing
hard robotics softbots technology
new industrial
revolution
74 Rodney Brooks
Freitag, 4. März 2011
95. Contents
• Basic ideas: the four messages of
embodiment
• Applications: Service- and companion-
robots
• Where are we going? — “Soft robotics”
• A look into the future: self-assembly
• Take home message
76
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96. Self-assembly
Shuhei Miyashita’s “Tribolons”
• light, swimming on
water (electrolyte)
• magnet and vibration
motor
• “pantograph”
77
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97. “Pizza”
self-
assembly
78
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98. “Pizza”
self-
assembly
Design and construction:
Shuhei Miyashita, AI Lab, UZH and CMU
79
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99. “Pizza”
self-
assembly
Design and construction:
Shuhei Miyashita, AI Lab, UZH and CMU
79
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100. “Pizza”
self-
assembly
Design and construction:
Shuhei Miyashita, AI Lab, UZH and CMU
80
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101. Emergent functionality
a “bicycle”
green discs:
magnet
no vibration motor
emergent functionality yellow triangle:
magnet
how does it work? vibration motor
basin with
electrolyte
Design and construction: 81
Shuhei Miyashita, AI Lab, UZH and CMU
Freitag, 4. März 2011
102. Emergent functionality
a “bicycle”
Design and construction:
Shuhei Miyashita, AI Lab, UZH
and CMU
82
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103. Emergent functionality
a “bicycle”
Design and construction:
Shuhei Miyashita, AI Lab, UZH
and CMU
82
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104. Contents
• Basic ideas: the four messages of
embodiment
• Applications: Service- and companion-
robots
• Where are we going? — “Soft robotics”
• A look into the future: self-assembly
• Take home message
83
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105. Summary and conclusions
Key to “soft robotics”:
understanding of “embodiment”
—> the “four messages”
84
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106. Summary: The four messages
of embodiment
Message 1: Physical embedding
Understanding brain not enough; morphology
materials; embedding
Message 2: Real/Artificial worlds
Fundamental differences industrial and real-world
environments
Message 3: Task distribution
Cooperation - brain, body, environment
Message 4: Physical dynamics and information structure
Induction of information structure; dependence on
morphology and control 85
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110. or read THE book
what book?!??
89
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111. Read
Rolf Pfeifer and Josh Bongard
How the body shapes the way we
think — a new view of intelligence
(popular science)
MIT Press, 2007
Illustrations by Shun Iwasawa
90
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112. Chinese translation
Translated by
Weidong Chen
Shanghai Jiao Tong University
and
Wenwei Yu
Chiba University, Japan
Foreword by
Lin Chen
Chinese Academy of Science
91
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113. How How
the body the body
shapes shapes
translated by
the way the way
Koh Hosoda, Osaka University
and
we think : Ishiguro, Tohoku University :
Akio we think
a new view of a new view of
to appear soon
intelligence 92
intelligence
Freitag, 4. März 2011
115. or join
The ShanghAI Lectures
93
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116. or join
The ShanghAI Lectures
• global lecture series on natural and artificial
intelligence
• video conference with 20 universities
• 3D virtual collaborative environments for
classwork with 40 universities
• intercultural cooperation on interdisciplinary
topic
The ShanghAI Lectures, Sept to Dec 2011
(from the University of Zurich)
93
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121. Thank you for your attention!
98
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122. The Zurich AI Lab
1987 Foundation with 2 PhD students
2010 ca. 30 scientific staff
(7 Postdocs und 20 PhD students, master students)
http://ailab.ifi.uzh.ch/
Funding:
EU-ICT (Information and Communication Technologies) (Cognitive Systems, FET —
Future and Emergent Technologies)
University of Zurich
Swiss National Science Foundation
Private Sector, Sponsors
Foundations, CIAN (Club of Intelligent Angels)
99
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123. Research program
artificial evolution dynamic movement
morphogenesis and locomotion
biorobotics
theory of
self- intelligence learning, development
organization,
neural modeling
self-assembly
grand goal
grand goal
humanoid robots
modular robotics
vision
assistive robotics
prosthetics and
educational “life as it
neural interfacing
technology could be”
“life as it
could be”
applications to design
business design art, entertainment
100
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124. Funding
• University of Zurich, Switzerland
• Swiss FNS:
- From locomotion to cognition
- Dynamical coupling in motor-sensory function substitution
- From morphology to functionality
- Swiss National Competence Center, for Research (NCCR) Robotics
• EU-FET:
- Locomorph
- Octopus
- Extended Sensory-Motor Contingencies
- iCub (finished)
• EU-Cognitive Systems:
- ECCERobot
- Amarsi
- EU-Cog II/III
• Private funding/others:
- CIAN (Club of Intelligent Angels)
- Maxon Motor
- Festo
- Hasler Foundation
- Switch 101
- Awtech
Freitag, 4. März 2011
125. Research program Locomorph
Morpho-function Octopus
artificial dynamic movement
evolution and locomotion
Locognition
Scalable morphogenesis biorobotics
self-assemby NCCR Robotics iCub
theory of
PACE
self- ECCERobot
intelligence
learning, development
Started: Dec. 2010 modeling
organization,
self-assembly
neural
Amarsi
grand goal
grand goal
humanoid robots
modular robotics
(Switzerland) assistive robotics
vision Robodoc
REAL prosthetics and
Dyn. Coupling
educational “life as it
neural interfacing
technology
EU-Cog II
could be”
“life as it
ALP
could be”
Prosthetic hand
The ShanghAI
Lectures business design
applications to design
art, entertainment in Lab
Artists
Industrial design 102 Interactive installations
and business
Freitag, 4. März 2011
126. NCCR: 12 year perspective
EPFL
University of Zurich
ETH Zurich
103
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127. The Zurich AI Lab — Spin-offs
• Neuronics
• Dynamic Devices
• Starmind Innovation
• Enexra inc.
104
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