ShanghAI Lectures Exercise 2 Study Group 160 (Naveen Kuppuswamy,Stephanie Wartenburg, Abishek Ramdas, Xiong qu, Denise Rieser)

Artificial Intelligence Exercise 2

Task 1
Slope_angle .000 .010 .020 .030 .040 .050 .060 .070 .080 .090 .100 .110 .120 .130 .140 .150 .151 .152 .153 .154 .155 .156 .157 .158 .159 .160 .161 .162 .163 .164 .165 .166 .167 .168 .169 .170 .180 .190 .200 distance_travelled_in_steps .0 .0 .0 .0 .0 .0 .0 .0 .0 .0 1.0 1.0 1.0 1.0 2.0 1.0 1.5 2.0 2.0 2.0 10.0 9.5 3.0 3.0 4.0 10.0 8.0 10.0 8.0 5.0 4.0 6.0 5.0 3.0 3.0 3.0 3.0 3.0 3.0

For slope angles 0.09 the initial kinetic energy of the walker (cause by the dropping) is not high enough to start the walk (here: step count 0) For bigger angles the initial energy of the walker is sufficient to make it past the vertical position of the inner (stance) legs. Only for angles 0.155, 0.160, 0.162 we find stable gaits, i.e. the kinetic energy loss is entirely compensated by the gravitational potential energy We understand that if we make very small changes in the initial condition of this complex system (here: change the slope angle in the order of rad), we get very different results.

Task 2

It seems that the environment with an angle 0.155; In task 1, the smallest angle that leads to stable walking0.162 perfectly confirms to is even smaller (0.15 -> less 0.160; is 0.155. If the slope angle the mechanical gravitational energy available), one would intuitively place the walker at a higher y-position to obtain a higher behaviour of the PDW. initial kinetic energy and to ensure the inition of the walk. Caused by the slope of the ramp, the PDW has exactly the Increasing the dropping height to y=0.2767 leadsright balance between kinetic and potential energy, so to a complete walk of the PDW. (Default height: 0.275659) But we also get a stable walk by decreasing the height to y=0.2701, which implies of course that even this height is that the step length is suitable for running down the sufficient to initiate walking. In addition, like in task 1, there might be even more, but limited number of stable ramp. gaits (= number of attractors in the phase space). Ultimately, what determines whether the walker develops a stable gait is the tuning of the set of parameters from the PDW as well as from the environment. For appropriate sets of values, this dynamical system settles for the one of the available attractors.

ShanghAI Lectures Exercise 2 Study Group 160 (Naveen Kuppuswamy,Stephanie Wartenburg, Abishek Ramdas, Xiong qu, Denise Rieser)
This falling in to a natural gait arises from the walker's own dynamics (follows from its morphology) and the environment. For the agent in the simulation, it swings its feet by lateral rocking. The rocking frequency must be tuned to the swing frequency such that half a rocking cycle is completed in one step. Thus (Rocking frequency / swing frequency) = constant. If this is satisfied, the frequencies phase lock and there is no power dissipation. If this condition is not satisfied, it leads to power loss. The phase locking of the frequencies can be achieved only when the angular momentum at the point of contact, hence the velocity along the slope is a particular value for that slope. By dropping from different heights, we get different values of velocity in the direction of the slope. Only for particular values, the condition is satisfied for that slope.

Task 3
A.
A simulation of the physical world cannot represent all of the real worlds dynamics e.g. resistance of air, joints, ramp, or room temperature. 1. Surfaces The surfaces in the virtual world are smooth where as it is very irregular in the real world. The researcher might want to study of control mechanisms that can result in a steady walking gait when irregular surfaces are encountered. To study the interaction of an agent in an ecological niche An agent can be designed taking the ecological niche it is going to be working on into consideration and put in that niche to observe the desirable outcomes (actions) of the agent interacting with the niche. This cannot be simulated easily. The computational complexity of the agent as a whole can be considerably less when studying individual sub systems of the agent separately. The ways in which the whole agent can be used to solve a problem can be studied by building a model.

2.

3.

B.
The action of walking in passive dynamic walkers emerges from periodic action of actuators and the interaction between the springs and the ground. The walker falls into one of its attractor states based on the initial conditions and perturbations from the surroundings. When all the conditions required for the PDW to engage in a walking gait is met, the walker stabilizes into its walking attractor states. When there is a disturbance from the surrounding, the agent temporarily moves away from the attractor state. If the disturbance is small the PDW reverts back to it walking attractor state. But if the disturbance is large, the PDW might go to another attractor state (fall down). This stabilization is brought about by control feedback provided by the springs.

C.
The morphology of the agent along with its intelligent interaction with the surrounding causes the agent to settle down into a walking attractor state. When all conditions necessary for walking is met, the agent has a walking gait.

D.
PDW to Honda Asimo The Asimo walking is achieved by controlling each and every action of the movement. The morphology of the system is not taken into account and the brain of Asimo calculates every aspect. Whereas in a PDW, very little calculation is involved and most of the work is taken care of by the morphology of the agent.

ShanghAI Lectures Exercise 2 Study Group 160 (Naveen Kuppuswamy,Stephanie Wartenburg, Abishek Ramdas, Xiong qu, Denise Rieser)
Based on 3 constituent principles 1. Ecological Niche The PDW is designed to get a walking gait with minimum computation and maximum use of environment and morphology. It is designed for a laboratory ecological Niche. The Asimo is designed to be a commercial robot with a house as its ecological niche. It needs to communicate with humans and other equipment available at home. The Nao robot is designed to play Robot Soccer. Its ecological niche is a playground with other robots, soccer balls and goal areas. Desired Function The PDW is designed to study the means of getting a walking gait with minimum control. The Asimos function is to work with the humans and assist them in their activities. The objective of NAO robot is to play soccer, defend its goal and score as many goals as possible. It also involves getting up when falling down and effective manipulation of the ball. Design of the agent The PDW agent is designed in such a way that it effectively uses the sensory stimulus from the environment and its morphology to achieve its desired function namely producing a natural walking gait. The Asimo is designed to communicate with humans, understand its environment and assisting humans. The NAO is designed in such a way that it is effectively able to manipulate a soccer ball and also to get up when it falls down.

2.

3.

E.
Similarities with human walking i. ii. iii. Makes use of morphology to walk. Doesnt need a separate computing device Makes use of springs and not so resistive surfaces that are in contact with the floor to settle down into the walking gait. energy efficiency: passive leg movement, PDW and humans have similar

Differences with human walking i. ii. iii. If all conditions necessary to maintaining walking are not met, the PDW cannot walk. The PDW has only 5 degrees (2 ankles, 2 knees, 1 hip) of freedom whereas the humans have more than 5 degrees of freedom. The PDW cannot steer

Task 4
Slope angle = 0.1705, all other parameters have default values. 1. DEF SLOPE Solid Translation 0.26, -0.054, 0 Rotation 0, 0, -1, 0.1705 2. DEF WALKER SUPERVISOR Translation -0.3, 0.275659, 0 Rotation 0, 0, 1, 6