||Autonomous Systems Lab

Roland Siegwart, ETH Zurichwww.asl.ethz.chwww.wysszurich.ch

Zurich, June 21, 201621.06.2016Roland Siegwart 1

Status quo and Trends of Robotics

Shaping the future

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� Introduction | Digitalization and Recent Direction in Robotics

� Robot Systems | Examples from ASL/RSL at ETH Zurich

� Mobile Robot Navigation | from Perception to Autonomous Navigation

� Application Fields and Conclusion

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Content

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� Microelectronics / Computing

� Internet / Information

� Mobile Devices / Connectivity

� Robotics / Intelligent Systems

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Technologies Disrupting Services | digitalization / industry 4.0

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� Microelectronics / Computing

� Internet / Information

� Mobile Devices / Connectivity

� Robotics / Intelligent Systems

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Technologies Disrupting Services | digitalization / industry 4.0

Physically Interacting Machines

→ exponential increase of complexity

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Robotics today (Tesla) https://www.youtube.com/watch?v=8_lfxPI5ObM

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Next generation of Robots| mobile, smart, connected, adaptive and closer to humans

Cyborgs

Service and Personal Robots

Industrial Robots

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� Complex machines with high added value

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Fascinating Robotics

DARPA Robotics Challenge07.06.2015,

Team NEDO-JSK, Japan12 x original speed!!

Spot | hydraulic quadruped

OceanOne | Humanoid Underwater Robot

https://www.youtube.com/watch?v=M8YjvHYbZ9w

https://www.youtube.com/watch?v=8P9geWwi9e0

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“Soft Robots” | torque / force controlled robots

lightweight robot

BaxterYuMi

ANYbotics

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Mobile Platforms

ANYbotics

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� Mission and Dedication� To create intelligent robots and systems that operate

autonomously in complex and dynamic environments.

� Research Focus� Novel robot concepts that are best adapted for ground, air, or

water based applications.� New algorithms for perception, localization, abstraction, mapping,

and path planning that will enable autonomous operation in challenging environments.

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Autonomous Systems LabInstitute of Robotics and Intelligent SystemsProf. Dr. Roland Siegwart

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Design of Rolling, Swimming, Walking and Flying Robots

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rezero (2010)| the ball balancing robothttps://www.youtube.com/watch?v=ACohrH64YKs

BeachBot (2014, with Disney)| the beach artisthttps://www.youtube.com/watch?v=eBRrQBPtdak

Vertigo (2015 with Disney)| the ultimate wall climberhttps://www.youtube.com/watch?v=KRYT2kYbgo4

Scalevo (2015)| the stair-climbing wheelchairhttps://www.youtube.com/watch?v=3lb_8nmy90c

Ultimate Rolling Robots – designed by students

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Quadruped Legged Locomotion

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ANYbotics

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� http://www.youtube.com/watch?v=Jql6TSyudFE

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Efficient Walking and Running | what nature evolved (Extreme Jumpy Dog)

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Efficient Walking and Running | serial elastic actuation

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https://www.youtube.com/watch?v=6igNZiVtbxU

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� High mobility � “to go where today only humans can go”

� 10 kg of payload� 2 h of continuous operations

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ANYmalan electrically actuated dog for real-world scenarios Prof. Marco Hutter

https://www.youtube.com/watch?v=EI1zBTYpXW0

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� Helicopters: � < 20 minutes� Highly dynamic and agility

� Fixed Wing Airplanes: � > some hours; continuous flights possible� Non-holonomic constraints

� Blimp: lighter-than-air� > some hours (dependent on wind conditions);� Sensitive to wind� Large size (dependent on payload)

� Flapping wings� < 20 minutes; gliding mode possible� Non-holonomic constraints� Very complex mechanics

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UAV (Unmanned Aerial Vehicles) | flight concepts

21.06.2016Roland SiegwartFesto BionicOpter

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Reely (2009 – with Disney)| the flying reel

https://www.youtube.com/watch?v=RF6OyKKmrX8

Skye (2012 – with Disney)| the omnidirectional blimp

https://www.youtube.com/watch?v=qXvl3anK3w0

PacFlyer/wingtra (2013)| the VTOL UAV

https://www.youtube.com/watch?v=QADvPDWtgFU

Flying Robots | new ways of flying

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� Based on Mass & Power Balance� Need for precise scaling laws

(mass models)

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Solar Airplane |design methodology for continuous flights

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Airplane Parts• Solar cells• Battery• Airframe• …

Î Total massAerodynamic & ConditionsÎ Power for level Flight

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Skysailor (2008)| pioneering continuous flights| 3.2 m, 2.3 kg

https://www.youtube.com/watch?v=IU4BoEFOEKI

(2012)| robust and versatile solar plane| 3 m, 3.8 kg

(2015)| 81 hours non-stop in summer 2015| 5.64 m, 6.2 kg

https://www.youtube.com/watch?v=8m4_NpTQn0E

Flying Robots – fixed wing

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Mobile Robot Navigation

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?

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“Seeing” | Laser-based 3D mapping

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“Seeing” | Visual-Inertial Motion Estimation

https://www.youtube.com/watch?v=yvgPrZNp4So

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“Intelligent Smartphone” | perceiving and understanding the environment

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� Humans are unbeatable in taking decisions in complex situations

� Technology is better in simple but fast decisions

(ABS, ESP, )

“Understanding” the world

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Laser-based navigation in complex environments

3D mapping and path planning

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� In collaboration with � University of Freiburg,� Univ. of Oxford� KU Leuven� RWTH Aachen � BlueBotics

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Autonomous navigation in citiesEUROPA - European Robotic Pedestrian Assistant

https://www.youtube.com/watch?v=HE0NK7rFfpk

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Real-time on-board Visual-Inertial Navigation

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OKVIS | Vision-Only vs. Visual-Inertial in Optimization

IMU termsReprojection errors (weighted)Cost

www.skybotix.com

i: camera index; k: camera frame index; j: landmark index.

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V-Charge | using close-to-market sensors

cameras

Wheel encoders

ultrasound

11.11.2015

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V-Charge | Vision and Results

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https://www.youtube.com/watch?v=7xQfKTAtyNU

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Dri

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Spe

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Complexity of Environment → Perception and Interaction 21.06.2016Roland Siegwart 137

Autonomous Cars | roadmap

Autonomouscar freeway

Autonomouscar urban

Fully autonomousCar

(you can sleep)

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Autonomous Cars | a bright future without traffic jams

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� Swarm of small helicopters� Vision-inertial navigation (one camera and IMU, GPS denied)� Fully autonomous with on-board computing� Feature-based visual SLAM� robust against lighting changes and large scale changes

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UAV | Vision only navigation

Proto 1

Proto 2

Proto 3

www.sfly.ethz.ch/

21.06.2016Roland Siegwart

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UAV | collision avoidance and path planning

Proto 1

Proto 2

Proto 3

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� Real time 3D mapping (on-board)� optimal path planning considering localization uncertainties

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Collaborative Visual-Inertial Navigationin collaboration with

https://www.youtube.com/watch?v=9PprNdIKRaw

Prof. Marco Hutter

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Applications

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StaticStructured, 2D

StaticUnstructured, 3D

DynamicStructured, 2D

StaticDynamicSemantics

DynamicUnstructured, 3DAc

tion

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from

sim

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Environment - from static 2D grid maps to 3D cognitive maps

AdvancedInteraction

MobileManipulation

TactileManipulation

AutonomousNavigation

Complexityof Services

Robotics Roadmap

Autonomouscar urban

Tour-Guides

Householdassistant

AGVs

All-terrainnavigation

Autonomouscar freeway

Industrialservices

Toys

Householduniversal

dynamic

Search and Rescue

Agriculturerobots

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Constructionrobotics

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� Industrial transportation� Cleaning� Medical robotics� Entertainment / edutainment

� Logistics� Autonomous Cars

� Industrial inspection� Surveillance and rescue� Construction and mining� Agriculture

� Health and elderly care� Personal / services robots

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Opportunities / Markets

The coffee servantNesspresso / Bluebotics, Switzerland

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YuMi

||Autonomous Systems Lab

� $120 Mio donation from HJ Wyss

� 6-7 years� Focus� Robotics� Regenerative Medicine

� 10 technology transfer projects running, more in the pipeline

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Bridging the “valley of death” | The Wyss Zurich

www.wysszurich.ch

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Zurich Area | a melting pot for robotics technology� Initiatives / Spin-offs / Industrial Collaborations

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Center for Learning Systems

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� Chris Anderson� CEO of 3DRobotics� WIRED, editor-in-chief until 2012

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Switzerland, the Silicon Valley of Robotics

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� Robotics is a very fascinating engineering field� However, robotics is a very very hard problem� Design and precision mechanics� Perception� Physical interaction� Intelligence

� The way forward� A single fine-tuned demonstration is not enough� Hype / Bobble� Overselling will bounce back

� However, there are low hanging fruits, especially for Switzerland

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Conclusion

AdvancedInteraction

MobileManipulation

TactileManipulation

AutonomousNavigation

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ASL Team