|
[DPRG] Will Kuhnle's speculations on Can Can
Subject: [DPRG] Will Kuhnle's speculations on Can Can
From: R. Steven Rainwater
srainwater at ncc.com
Date: Wed Jan 3 20:24:51 CST 2007
Will Kuhnle (who doesn't have net access) asked me to post these
comments about the Can Can contest to the list. If you'd like to respond
to Will's comments please DO NOT reply to me. Either post your reply to
the list, where Will can read it from the web archive using a computer
at the RBNO - or come to the next RBNO and strike up a conversation with
Will about it in person.
Will's comments
------------------------------------------------------------
Why is Can Can so hard?
I believe a successful Can Can Robot needs the following (or equivalent)
capabilites/behaviors:
1> Execute Search maneuver.
2> Detect object.
3> Locate object.
4> Identify/reconize object as a can.
5> Approach/drive_toward can.
6> Determine when can is within griper's gripping zone.
7> Grip can.
8> Know and take actions necesary to get home.
9> Recognize home.
10> Maneuver can to desired location (old multi-can Can Can only)
11> Release can.
And only for the old multi-can Can Can.
12> Recalibrate robot's location and/or orientation with respect to
playpen.
13> Ability to repeat 1 through 11.
14> Know when to quit.
Robots to compete in our other events, line following, wall following,
quick trip, etc, need only one or two capabilites/behaviors. My robots,
Rube and E. Spiral have no brains
(electronics) at all! Based on the number of behaviors, Can Can is five
to ten times harder than our other events.
And I believe that, at least initially, difficulty goes up faster than
the number of behaviors. With one or two behaviors the program can be a
simple loop. But for a large number of behaviors, a more complex program
structure is required. Also hardware and behaviors must be more
reliable. A robot with two behaviors, each working properly 85% of the
time, can be expected to work about 72% of the time. With ten behaviors
this drops to about 20%. The robot can not win if it does not work.
I have observed that some (most ??) of our members start building their
robot a week or less before the contest. Even if they complete the robot
in time for the contest they do not have time to properly test and
refine it. I believe a Can Can robot can not be built that way. It
requires a lot of persistance and/or methodical effort. Each behavior
should be implemented, thoroughly tested and refined before moving on to
the next behavior. Too much like work for a hobby? Perhaps. I expect to
build a Can Can Robot, but it will not be any time soon. I am still in
the learning mode.
Will Kuhnle
01/02/07
------------------------------------------------------------
End of Will's comments.
Again, please don't reply to me. Post your replies to the list if you
want Will to see 'em.
-Steve
More information about the DPRG mailing list
|
