Upgrade to Pro — share decks privately, control downloads, hide ads and more …

A Modern Perspective from “Dual Citizenship” in...

Avatar for Avik De Avik De
September 25, 2019
290

A Modern Perspective from “Dual Citizenship” in Academia and Industry

This talk was given at the GRASP 40 year celebration

Avatar for Avik De

Avik De

September 25, 2019
Tweet

Transcript

  1. A Modern Perspective from “Dual Citizenship” in Academia and Industry

    Avik De Cofounder & CTO, Ghost Robotics (Philadelphia) Postdoc (Harvard SEAS); Ph.D. (UPenn 2017)
  2. Fielded legged robotics: status update Vision-60 (35kg, 12dof) Research Scientific

    Commercial Jerboa (3kg, 4dof) Minitaur (6kg, 8dof direct drive)
  3. Perspectives on (legged) robot control [Raibert (1986)] Simple controllers →

    Complex systems/tasks? Generalizable solutions • Across tasks • Across platforms [Ting et. al. Neuron (2015)] In Biology In Robotics [Seyfarth (2015) [De (2017)] [Schaal (2006)] [Posa et al (2014)] [Boston Dynamics (2019)]
  4. Thesis: Modularity in Robot Control (Reduction + Composition) Classical (analytical)

    view Templates are themselves compositions [Full and Koditschek (1999)] “Templates and anchors…”
  5. Applications [Shamsah, De, Kod (IROS 2018)] [De, Kod in IJRR

    (2018)] Minitaur bounding, trotting, pacing, pronking Jerboa tailed hopping [De, Kod (ICRA 2014)]
  6. Ghost Robotics technical direction: modularity through hierarchy ? Abstraction benefits

    • Reduced (re)development • Computational simplification • Model-robustness Spirit 40
  7. Consequence on development: GR Vision 60 design history 2018 2019

    v1.0 v2.0 v3.0 Q1 Q1 v3.5 Q2 Q2 Q3 Q3 Q4 Q4
  8. Details of these reflexes make a huge difference in practice:

    outdoors “Details” • Slope estimation • Slip detection and handling • Stubbing detection and handling • Early/late contact handling • “Re-swing” reflexes • …
  9. Can go further: templates are inevitable • Subject to anchoring

    posture control, • With sufficient actuated DOFs, • (degrades gracefully with fewer) • Reduced dynamics at least contain IP. [De, Topping, Kod (in prep)] Back from commercial to research!
  10. Emphasize scientific fundamentals: push on efficiency * Estimated from public

    specs ** MIT cheetah is larger, “actuators only” mechanical (not total) COT, carrying a small battery [Seok et. al. (2015)] Robot Cost of Transport Vision 60 v3.5 0.80 Vision 60 v4.0 0.54 Boston Dynamics Spot 0.91* MIT Cheetah 0.46** Type Power (W) Motors Mechanical 210 Low level electronics Electrical 20 Blind locomotion Algorithmic <1 Gait planner Algorithmic <5 Autonomy Algorithmic 15 GR Vision 60 v3.5 power budget
  11. Perspectives from mixing research with commercial viability Why do we

    need Universities? • Training • “Five-year problems” • Intellectual boldness Why do we need companies? • Motivation • Platforms • $$$ • “Details” reveal research problems [De (2017)] BD Spot GR Vision ANYmal [Boston Dynamics (2019)]
  12. Impact on the individual What does an (academic/researcher/engineer) of the

    future look like? • Beneficial to draw on both • Unclear • Incentive structures around IP • Trade secrets vs. publishing • Entities like GRASP can help by defining next-generation norms! Academia Company Individual