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Artificial Intelligence for Robotics
Dedication
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PacktPub.com
Contributors
About the author
About the reviewers
Packt is searching for authors like you
Preface
Who this book is for
What this book covers
To get the most out of this book
Download the example code files
Download the color images
Code in Action
Conventions used
Get in touch
Reviews
Foundation for Advanced Robotics and AI
Technical requirements
The basic principle of robotics and AI
What is AI (and what is it not)?
There is nothing new under the sun
The example problem – clean up this room!
What you will learn
Artificial intelligence and advanced robotics techniques
Introducing the robot and our development environment
Software components (ROS, Python, and Linux)
Robot control systems and a decision-making framework
Soft real-time control
Control loops
The robot control system – a control loop with soft real-time control
Reading serial ports in a real-time manner
Summary
Questions
Further reading
Setting Up Your Robot
Technical requirements
What is a robot?
Robot anatomy – what are robots made of?
Subsumption architecture
Software setup
Laptop preparation
Installing Python
Installing ROS on the laptop
Setup of Raspberry Pi 3
VNC
Setting up catkin workspaces
Hardware
Beginning at the beginning – knolling
Assembling the tracks
Mounting the tracks
Arm base assembly (turntable)
Arm assembly
Wiring
Summary
Questions
Further reading
A Concept for a Practical Robot Design Process
A systems engineering-based approach to robotics
Our task – cleaning up the playroom
Use cases
The problem – part 1
Who – the robot
What – pick up toys and put them in the toy box
What – pick up and put away in the toy box the items that were not previously in the room
When – after the grandchildren have visited and they have left, continue to pick up toys until there are none left
When – when I (the user) tell you to, and don’t stop until there are no more toys to be found
Where – the game room upstairs
The problem – part 2
Who – the robot, the user (granddad), and the grandchildren
What – receive commands and verbally interact (hold a conversation) with children, which must include knock-knock jokes
When – as requested by the robot controller, then when the child speaks to the robot
Where – in the game room, within about six feet of the robot
What is our robot to do?
Storyboards
Storyboard – put away the toys
Project goals
Decomposing hardware needs
Breaking down software needs
Writing a specification
Summary
Questions
Further reading
Object Recognition Using Neural Networks and Supervised Learning
Technical requirements
The image recognition process
The image recognition training and deployment process – step by step
Image processing
Convolution
Artificial neurons
The convolution neural network process
Build the toy/not toy detector
Using the neural network
Summary
Questions
Further reading
Picking up the Toys
Technical requirements
Task analysis
Setting up the solution
How do we pick actions?
Summary of robot arm learning process
Teaching the robot arm
Version one – action state reinforcement learning
Adaptive learning rate
Q-learning implementation
Version 2 – indexed states and actions
Genetic algorithms
Other robot arm machine-learning approaches
Google’s SAC-X
Amazon Robotics Challenge
Summary
Questions
Further reading
Teaching a Robot to Listen
Technical requirements
Robot speech recognition
What are we doing?
Speech to text
Intent
Mycroft
Hardware
Mycroft software
Skills
Dialogs
Telling jokes – knock, knock
Receiving jokes – who’s there?
Summary
Questions
Further reading
Avoiding the Stairs
Technical requirements
Task analysis
What is SLAM?
Alternatives for navigation
Neural networks
Processing the image
Training the neural network for navigation
Convolutional neural network robot control implementation
Summary
Questions
Further reading
Putting Things Away
Technical requirements
Task analysis
Decision trees
What do we mean by pruning?
Self-classifying decision trees and AI tools
Entropy
One hot encoding
Random forests
Grid searching and A* (A-Star)
The A* algorithm
D* (D-Star or Dynamic A*)
GPS path finding does not use a map!
Summary
Questions
Further reading
Giving the Robot an Artificial Personality
Technical requirements
What is an artificial personality?
The Turing test
The art and science of simulation
An emotion state machine
Playing the emotion game
Creating a model of human behavior
Integrating artificial personality into our robot
Personality construction – building blocks
Context
Under construction
The robot emotion engine
The human emotion model
Human information storage
Context memory
Questions
Further reading
Conclusions and Reflections
Conclusions about our journey
Careers in robotics
Issues in AI – real and not real
Some very brief words about robots and AI phobia
Understanding risk in AI
Final words
Summary
Questions
Further reading
Assessments
Chapter 1, Foundation for Advanced Robotics and AI
Chapter 2, Setting Up Your Robot
Chapter 3, A Concept for a Practical Robot Design Process
Chapter 4, Object Recognition Using Neural Networks and Supervised Learning
Chapter 5, Picking up the Toys
Chapter 6, Teaching a Robot to Listen
Chapter 7, Avoiding the Stairs
Chapter 8, Putting Things Away
Chapter 9, Giving the Robot an Artificial Personality
Chapter 10, Conclusions and Reflections
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Artificial Intelligence for Robotics