Intelligent Systems And Their Societies

"Robby", A Household Robot

A $10000, 4 1/2 ft high, pneumatic, humanoid, household and light assembly robot could and should be build. It would need 220 watts of electrical power, and would use a modified "General Learner" computer program as its mind. Many persons call it an android.
The prototype, with the electronic interface for the senses and battery, weighs 24 kg (53 lb.). For the time being the computer brain and air compressor will be separate, connected to the body by cables. Have a look at Robby sitting (Enter for continuos reading, like a book). or at the latest picture (Enter for continuos reading, like a book). of Robby.

A low cost humanoid robot
The study of intelligent systems (IS) has now advanced to a point where a serious intent should be made to build a low cost, intelligent household robot. For a description, why we should build robots, see "Why build Robots" (Enter for continuos reading, like a book) and "Robot Servants" (Exterior link).

A human intelligence depends on having senses like a human being and the possibility of actions (hand movements) somewhat similar to a human. This is needed, so the brain can form concepts related to theses senses and actions, and so that it can understand these concepts. See Meaning and Symbol Grounding (For continuos reading, like a book - do not enter here now)..

To begin the creation of a human-like intelligence we need to experiment with a robot having human-like senses and body. Below we describe such a robot, which, for cost and weight reasons, has been chosen to be a pneumatic one.

The author is now building a prototype of this robot (The body is finalized, the brain is in construction). He wishes to check out the difficulties of building this robot, of controlling the robot body from the brain and of teaching (not programming) the robot to react adequately to a given situation.

Specifications
A household robot should be of moderate size and weight, so that it does not cause fear. The size and strength of a 12 year old person seems about adequate. It should cost less than a car and be able to operate in a home. Therefore it should run on rechargeable batteries or be plugged into the household electricity system. It needs only enough intelligence to cook, seve at the table, make beds, and use existing household appliances.
For detailed specifications, see: Specifications for "Robby" (Enter for continuos reading, like a book).

Robot Brain
The mind of the robot is a modified "General Learner" program. I started running this program in a Macintosh Quadra 605, and plugged the eyes into that machine. Now I have an iMac, and am trying out limb movements on that computer.
See: Mind. (Enter for continuos reading, like a book).
This robot mind is like a proverbial black box. The input is sense information that the brain transforms into concepts. The output are concepts that manage the limbs. The black box learns which outputs are reasonable for which inputs.
The program is not complete yet.

Present investigation A new brain for the Robby, called GL-3, (For continuos reading, like a book - do not enter here now). by the author, Aug 2004.

Here (Enter for continuos reading, like a book). you can see how Robby's brain uses the Perceptual Control Theory.

What do you need to build your household robot
The robot should be build by a commercial enterprise. However, if you absolutely want to build your own, get together a group of persons, do not do it alone. It is too much work for one person and quite diversified knowledge is needed.
The abilities existing in the group should be leadership in the boss, then mechanical engineering, knowledge of pneumatics (if air cylinders are used), electrical engineering (if electric motors are used), electronics, computer programming, wood and iron working.
Be aware that this is an experimental robot project. There is no guarantee that the robot will finally work as desired.
For a discussion of the advantages and difficulties with the control of air cylinders click here (Enter for continuos reading, like a book)..

Prototype construction
The progress of the construction of the prototype has been as follows:

Body design (Feb. '95 to Oct. '95).
Skeleton (Enter here for continuos reading, like a book). (hard wood version) (Sep. '97 to May. '98).
Muscles (lightweight pneumatic cylinders) (Enter here for continuos reading, like a book) (Jun. '98 to Sep. '99).
Electro-pneumatic valves attached. 48 valves, model D112201 DYNAMCO, 12V, assembled as 6 manifolds, size of each manifold 40x60x160 mm (1.6x2.4x6.3 inches). (Jan. '00).
Senses (Enter here for continuos reading, like a book) (eyes, verticality sensor, limb position sensors, touch sensors) (installed Jan. '02).
Motoric and sensory electronic interface (Enter here for continuos reading, like a book) to brain (hardware) (Jan. '00 to Jul. '01)
Total weight of prototype body, without air compressor and computer: 24 Kg (53 lb.).

Cost
Total material cost of the prototype body 5200 dollars.
(Without computer and air compressor; I did not find a suitable air compressor)
The main material cost items were:

Electronic Interface 1409 dollars
DYNAMCO air valves 1360 dollars
CCD QuickCam eyes 770 dollars
Pewatron verticality sensors 477 dollars
24 encoders 205 dollars

Training
Since the robot starts without any concepts or response rules in its memory it has to learn just like a human baby. It has to learn to stand, to walk and any other activity we want it to do.
Here is a tentative training program (Enter for continuos reading, like a book)..

It is interesting to learn how a robot is being build. Many persons around the world are trying to do this. For other minor robot projects see: Smaller Android Projects (Exterior link)

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The author appreciates comments and suggestions.

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