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#436526 Not Bot, Not Beast: Scientists Create ...
A remarkable combination of artificial intelligence (AI) and biology has produced the world’s first “living robots.”
This week, a research team of roboticists and scientists published their recipe for making a new lifeform called xenobots from stem cells. The term “xeno” comes from the frog cells (Xenopus laevis) used to make them.
One of the researchers described the creation as “neither a traditional robot nor a known species of animal,” but a “new class of artifact: a living, programmable organism.”
Xenobots are less than 1 millimeter long and made of 500-1,000 living cells. They have various simple shapes, including some with squat “legs.” They can propel themselves in linear or circular directions, join together to act collectively, and move small objects. Using their own cellular energy, they can live up to 10 days.
While these “reconfigurable biomachines” could vastly improve human, animal, and environmental health, they raise legal and ethical concerns.
Strange New ‘Creature’
To make xenobots, the research team used a supercomputer to test thousands of random designs of simple living things that could perform certain tasks.
The computer was programmed with an AI “evolutionary algorithm” to predict which organisms would likely display useful tasks, such as moving towards a target.
After the selection of the most promising designs, the scientists attempted to replicate the virtual models with frog skin or heart cells, which were manually joined using microsurgery tools. The heart cells in these bespoke assemblies contract and relax, giving the organisms motion.
The creation of xenobots is groundbreaking. Despite being described as “programmable living robots,” they are actually completely organic and made of living tissue. The term “robot” has been used because xenobots can be configured into different forms and shapes, and “programmed” to target certain objects, which they then unwittingly seek. They can also repair themselves after being damaged.
Possible Applications
Xenobots may have great value. Some speculate they could be used to clean our polluted oceans by collecting microplastics. Similarly, they may be used to enter confined or dangerous areas to scavenge toxins or radioactive materials. Xenobots designed with carefully shaped “pouches” might be able to carry drugs into human bodies.
Future versions may be built from a patient’s own cells to repair tissue or target cancers. Being biodegradable, xenobots would have an edge on technologies made of plastic or metal.
Further development of biological “robots” could accelerate our understanding of living and robotic systems. Life is incredibly complex, so manipulating living things could reveal some of life’s mysteries—and improve our use of AI.
Legal and Ethical Questions
Conversely, xenobots raise legal and ethical concerns. In the same way they could help target cancers, they could also be used to hijack life functions for malevolent purposes.
Some argue artificially making living things is unnatural, hubristic, or involves “playing God.” A more compelling concern is that of unintended or malicious use, as we have seen with technologies in fields including nuclear physics, chemistry, biology and AI. For instance, xenobots might be used for hostile biological purposes prohibited under international law.
More advanced future xenobots, especially ones that live longer and reproduce, could potentially “malfunction” and go rogue, and out-compete other species.
For complex tasks, xenobots may need sensory and nervous systems, possibly resulting in their sentience. A sentient programmed organism would raise additional ethical questions. Last year, the revival of a disembodied pig brain elicited concerns about different species’ suffering.
Managing Risks
The xenobot’s creators have rightly acknowledged the need for discussion around the ethics of their creation. The 2018 scandal over using CRISPR (which allows the introduction of genes into an organism) may provide an instructive lesson here. While the experiment’s goal was to reduce the susceptibility of twin baby girls to HIV-AIDS, associated risks caused ethical dismay. The scientist in question is in prison.
When CRISPR became widely available, some experts called for a moratorium on heritable genome editing. Others argued the benefits outweighed the risks.
While each new technology should be considered impartially and based on its merits, giving life to xenobots raises certain significant questions:
Should xenobots have biological kill-switches in case they go rogue?
Who should decide who can access and control them?
What if “homemade” xenobots become possible? Should there be a moratorium until regulatory frameworks are established? How much regulation is required?
Lessons learned in the past from advances in other areas of science could help manage future risks, while reaping the possible benefits.
Long Road Here, Long Road Ahead
The creation of xenobots had various biological and robotic precedents. Genetic engineering has created genetically modified mice that become fluorescent in UV light.
Designer microbes can produce drugs and food ingredients that may eventually replace animal agriculture. In 2012, scientists created an artificial jellyfish called a “medusoid” from rat cells.
Robotics is also flourishing. Nanobots can monitor people’s blood sugar levels and may eventually be able to clear clogged arteries. Robots can incorporate living matter, which we witnessed when engineers and biologists created a sting-ray robot powered by light-activated cells.
In the coming years, we are sure to see more creations like xenobots that evoke both wonder and due concern. And when we do, it is important we remain both open-minded and critical.
This article is republished from The Conversation under a Creative Commons license. Read the original article.
Image Credit: Photo by Joel Filipe on Unsplash Continue reading →
Posted in Human Robots
#436491 The Year’s Most Fascinating Tech ...
Last Saturday we took a look at some of the most-read Singularity Hub articles from 2019. This week, we’re featuring some of our favorite articles from the last year. As opposed to short pieces about what’s happening, these are long reads about why it matters and what’s coming next. Some of them make the news while others frame the news, go deep on big ideas, go behind the scenes, or explore the human side of technological progress.
We hope you find them as fascinating, inspiring, and illuminating as we did.
DeepMind and Google: The Battle to Control Artificial Intelligence
Hal Hodson | 1843
“[DeepMind cofounder and CEO Demis] Hassabis thought DeepMind would be a hybrid: it would have the drive of a startup, the brains of the greatest universities, and the deep pockets of one of the world’s most valuable companies. Every element was in place to hasten the arrival of [artificial general intelligence] and solve the causes of human misery.”
The Most Powerful Person in Silicon Valley
Katrina Brooker | Fast Company
“Billionaire Masayoshi Son—not Elon Musk, Jeff Bezos, or Mark Zuckerberg—has the most audacious vision for an AI-powered utopia where machines control how we live. And he’s spending hundreds of billions of dollars to realize it. Are you ready to live in Masa World?”
AR Will Spark the Next Big Tech Platform—Call It Mirrorworld
Kevin Kelly | Wired
“Eventually this melded world will be the size of our planet. It will be humanity’s greatest achievement, creating new levels of wealth, new social problems, and uncountable opportunities for billions of people. There are no experts yet to make this world; you are not late.”
Behind the Scenes of a Radical New Cancer Cure
Ilana Yurkiewicz | Undark
“I remember the first time I watched a patient get his Day 0 infusion. It felt anti-climactic. The entire process took about 15 minutes. The CAR-T cells are invisible to the naked eye, housed in a small plastic bag containing clear liquid. ‘That’s it?’ my patient asked when the nurse said it was over. The infusion part is easy. The hard part is everything that comes next.”
The Promise and Price of Cellular Therapies
Siddhartha Mukherjee | The New Yorker
“We like to imagine medical revolutions as, well, revolutionary—propelled forward through leaps of genius and technological innovation. But they are also evolutionary, nudged forward through the optimization of design and manufacture.”
Impossible Foods’ Rising Empire of Almost Meat
Chris Ip | Engadget
“Impossible says it wants to ultimately create a parallel universe of ersatz animal products from steak to eggs. …Yet as Impossible ventures deeper into the culinary uncanny valley, it also needs society to discard a fundamental cultural idea that dates back millennia and accept a new truth: Meat doesn’t have to come from animals.”
Inside the Amazon Warehouse Where Humans and Machines Become One
Matt Simon | Wired
“Seen from above, the scale of the system is dizzying. My robot, a little orange slab known as a ‘drive’ (or more formally and mythically, Pegasus), is just one of hundreds of its kind swarming a 125,000-square-foot ‘field’ pockmarked with chutes. It’s a symphony of electric whirring, with robots pausing for one another at intersections and delivering their packages to the slides.”
Boston Dynamics’ Robots Are Preparing to Leave the Lab—Is the World Ready?
James Vincent | The Verge
“After decades of kicking machines in parking lots, the company is set to launch its first ever commercial bot later this year: the quadrupedal Spot. It’s a crucial test for a company that’s spent decades pursuing long-sighted R&D. And more importantly, the success—or failure—of Spot will tell us a lot about our own robot future. Are we ready for machines to walk among us?”
I Cut the ‘Big Five’ Tech Giants From My Life. It Was Hell
Kashmir Hill | Gizmodo
“Critics of the big tech companies are often told, ‘If you don’t like the company, don’t use its products.’ I did this experiment to find out if that is possible, and I found out that it’s not—with the exception of Apple. …These companies are unavoidable because they control internet infrastructure, online commerce, and information flows.”
Why I (Still) Love Tech: In Defense of a Difficult Industry
Paul Ford | Wired
“The mysteries of software caught my eye when I was a boy, and I still see it with the same wonder, even though I’m now an adult. Proudshamed, yes, but I still love it, the mess of it, the code and toolkits, down to the pixels and the processors, and up to the buses and bridges. I love the whole made world. But I can’t deny that the miracle is over, and that there is an unbelievable amount of work left for us to do.”
The Peculiar Blindness of Experts
David Epstein | The Atlantic
“In business, esteemed (and lavishly compensated) forecasters routinely are wildly wrong in their predictions of everything from the next stock-market correction to the next housing boom. Reliable insight into the future is possible, however. It just requires a style of thinking that’s uncommon among experts who are certain that their deep knowledge has granted them a special grasp of what is to come.”
The Most Controversial Tree in the World
Rowan Jacobson | Pacific Standard
“…we are all GMOs, the beneficiaries of freakishly unlikely genetic mash-ups, and the real Island of Dr. Moreau is that blue-green botanical garden positioned third from the sun. Rather than changing the nature of nature, as I once thought, this might just be the very nature of nature.”
How an Augmented Reality Game Escalated Into Real-World Spy Warfare
Elizabeth Ballou | Vice
“In Ingress, players accept that every park and train station could be the site of an epic showdown, but that’s only the first step. The magic happens when other people accept that, too. When players feel like that magic is real, there are few limits to what they’ll do or where they’ll go for the sake of the game. ”
The Shady Cryptocurrency Boom on the Post-Soviet Frontier
Hannah Lucinda Smith | Wired
“…although the tourists won’t guess it as they stand at Kuchurgan’s gates, admiring how the evening light reflects off the silver plaque of Lenin, this plant is pumping out juice to a modern-day gold rush: a cryptocurrency boom that is underway all across the former Soviet Union, from the battlefields of eastern Ukraine to time-warp enclaves like Transnistria and freshly annexed Crimea.”
Scientists Are Totally Rethinking Animal Cognition
Ross Andersen | The Atlantic
“This idea that animals are conscious was long unpopular in the West, but it has lately found favor among scientists who study animal cognition. …For many scientists, the resonant mystery is no longer which animals are conscious, but which are not.”
I Wrote This on a 30-Year-Old Computer
Ian Bogost | The Atlantic
“[Back then] computing was an accompaniment to life, rather than the sieve through which all ideas and activities must filter. That makes using this 30-year-old device a surprising joy, one worth longing for on behalf of what it was at the time, rather than for the future it inaugurated.”
Image Credit: Wes Hicks / Unsplash Continue reading →
Posted in Human Robots
#436470 Retail Robots Are on the Rise—at Every ...
The robots are coming! The robots are coming! On our sidewalks, in our skies, in our every store… Over the next decade, robots will enter the mainstream of retail.
As countless robots work behind the scenes to stock shelves, serve customers, and deliver products to our doorstep, the speed of retail will accelerate.
These changes are already underway. In this blog, we’ll elaborate on how robots are entering the retail ecosystem.
Let’s dive in.
Robot Delivery
On August 3rd, 2016, Domino’s Pizza introduced the Domino’s Robotic Unit, or “DRU” for short. The first home delivery pizza robot, the DRU looks like a cross between R2-D2 and an oversized microwave.
LIDAR and GPS sensors help it navigate, while temperature sensors keep hot food hot and cold food cold. Already, it’s been rolled out in ten countries, including New Zealand, France, and Germany, but its August 2016 debut was critical—as it was the first time we’d seen robotic home delivery.
And it won’t be the last.
A dozen or so different delivery bots are fast entering the market. Starship Technologies, for instance, a startup created by Skype founders Janus Friis and Ahti Heinla, has a general-purpose home delivery robot. Right now, the system is an array of cameras and GPS sensors, but upcoming models will include microphones, speakers, and even the ability—via AI-driven natural language processing—to communicate with customers. Since 2016, Starship has already carried out 50,000 deliveries in over 100 cities across 20 countries.
Along similar lines, Nuro—co-founded by Jiajun Zhu, one of the engineers who helped develop Google’s self-driving car—has a miniature self-driving car of its own. Half the size of a sedan, the Nuro looks like a toaster on wheels, except with a mission. This toaster has been designed to carry cargo—about 12 bags of groceries (version 2.0 will carry 20)—which it’s been doing for select Kroger stores since 2018. Domino’s also partnered with Nuro in 2019.
As these delivery bots take to our streets, others are streaking across the sky.
Back in 2016, Amazon came first, announcing Prime Air—the e-commerce giant’s promise of drone delivery in 30 minutes or less. Almost immediately, companies ranging from 7-Eleven and Walmart to Google and Alibaba jumped on the bandwagon.
While critics remain doubtful, the head of the FAA’s drone integration department recently said that drone deliveries may be “a lot closer than […] the skeptics think. [Companies are] getting ready for full-blown operations. We’re processing their applications. I would like to move as quickly as I can.”
In-Store Robots
While delivery bots start to spare us trips to the store, those who prefer shopping the old-fashioned way—i.e., in person—also have plenty of human-robot interaction in store. In fact, these robotics solutions have been around for a while.
In 2010, SoftBank introduced Pepper, a humanoid robot capable of understanding human emotion. Pepper is cute: 4 feet tall, with a white plastic body, two black eyes, a dark slash of a mouth, and a base shaped like a mermaid’s tail. Across her chest is a touch screen to aid in communication. And there’s been a lot of communication. Pepper’s cuteness is intentional, as it matches its mission: help humans enjoy life as much as possible.
Over 12,000 Peppers have been sold. She serves ice cream in Japan, greets diners at a Pizza Hut in Singapore, and dances with customers at a Palo Alto electronics store. More importantly, Pepper’s got company.
Walmart uses shelf-stocking robots for inventory control. Best Buy uses a robo-cashier, allowing select locations to operate 24-7. And Lowe’s Home Improvement employs the LoweBot—a giant iPad on wheels—to help customers find the items they need while tracking inventory along the way.
Warehouse Bots
Yet the biggest benefit robots provide might be in-warehouse logistics.
In 2012, when Amazon dished out $775 million for Kiva Systems, few could predict that just 6 years later, 45,000 Kiva robots would be deployed at all of their fulfillment centers, helping process a whopping 306 items per second during the Christmas season.
And many other retailers are following suit.
Order jeans from the Gap, and soon they’ll be sorted, packed, and shipped with the help of a Kindred robot. Remember the old arcade game where you picked up teddy bears with a giant claw? That’s Kindred, only her claw picks up T-shirts, pants, and the like, placing them in designated drop-off zones that resemble tiny mailboxes (for further sorting or shipping).
The big deal here is democratization. Kindred’s robot is cheap and easy to deploy, allowing smaller companies to compete with giants like Amazon.
Final Thoughts
For retailers interested in staying in business, there doesn’t appear to be much choice in the way of robotics.
By 2024, the US minimum wage is projected to be $15 an hour (the House of Representatives has already passed the bill, but the wage hike is meant to unfold gradually between now and 2025), and many consider that number far too low.
Yet, as human labor costs continue to climb, robots won’t just be coming, they’ll be here, there, and everywhere. It’s going to become increasingly difficult for store owners to justify human workers who call in sick, show up late, and can easily get injured. Robots work 24-7. They never take a day off, never need a bathroom break, health insurance, or parental leave.
Going forward, this spells a growing challenge of technological unemployment (a blog topic I will cover in the coming month). But in retail, robotics usher in tremendous benefits for companies and customers alike.
And while professional re-tooling initiatives and the transition of human capital from retail logistics to a booming experience economy take hold, robotic retail interaction and last-mile delivery will fundamentally transform our relationship with commerce.
This blog comes from The Future is Faster Than You Think—my upcoming book, to be released Jan 28th, 2020. To get an early copy and access up to $800 worth of pre-launch giveaways, sign up here!
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If you’d like to learn more and consider joining our 2020 membership, apply here.
(2) Abundance-Digital Online Community: I’ve also created a Digital/Online community of bold, abundance-minded entrepreneurs called Abundance-Digital. Abundance-Digital is Singularity University’s ‘onramp’ for exponential entrepreneurs — those who want to get involved and play at a higher level. Click here to learn more.
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Posted in Human Robots
#436263 Skydio 2 Review: This Is the Drone You ...
Let me begin this review by saying that the Skydio 2 is one of the most impressive robots that I have ever seen. Over the last decade, I’ve spent enough time around robots to have a very good sense of what kinds of things are particularly challenging for them, and to set my expectations accordingly. Those expectations include things like “unstructured environments are basically impossible” and “full autonomy is impractically expensive” and “robot videos rarely reflect reality.”
Skydio’s newest drone is an exception to all of this. It’s able to fly autonomously at speed through complex environments in challenging real-world conditions in a way that’s completely effortless and stress-free for the end user, allowing you to capture the kind of video that would be otherwise impossible, even (I’m guessing) for professional drone pilots. When you see this technology in action, it’s (almost) indistinguishable from magic.
Skydio 2 Price
To be clear, the Skydio 2 is not without compromises, and the price of $999 (on pre-order with delivery of the next batch expected in spring of 2020) requires some justification. But the week I’ve had with this drone has left me feeling like its fundamental autonomous capability is so far beyond just about anything that I’ve ever experienced that I’m questioning why I would every fly anything else ever again.
We’ve written extensively about Skydio, beginning in early 2016 when the company posted a video of a prototype drone dodging trees while following a dude on a bike. Even three years ago, Skydio’s tech was way better than anything we’d seen outside of a research lab, and in early 2018, they introduced their first consumer product, the Skydio R1. A little over a year later, Skydio has introduced the Skydio 2, which is smaller, smarter, and much more affordable. Here’s an overview video just to get you caught up:
Skydio sent me a Skydio 2 review unit last week, and while I’m reasonably experienced with drones in general, this is the first time I’ve tried a Skydio drone in person. I had a pretty good idea what to expect, and I was absolutely blown away. Like, I was giggling to myself while running through the woods as the drone zoomed around, deftly avoiding trees and keeping me in sight. Robots aren’t supposed to be this good.
A week is really not enough time to explore everything that the Skydio can do, especially Thanksgiving week in Washington, D.C. (a no-fly zone) in early winter. But I found a nearby state park in which I could legally and safely fly the drone, and I did my best to put the Skydio 2 through its paces.
Note: Throughout this review, we’ve got a bunch of GIFs to help illustrate different features of the drone. To fit them all in, these GIFs had to be heavily compressed. Underneath each GIF is a timestamped link to this YouTube video (also available at the bottom of the post), which you can click on to see the an extended cut of the original 4K 30 fps footage. And there’s a bunch of interesting extra video in there as well.
Skydio 2 Specs
Photo: Evan Ackerman/IEEE Spectrum
The Skydio 2 is primarily made out of magnesium, which (while light) is both heavier and more rigid and durable than plastic. The offset props (the back pair are above the body, and the front pair are below) are necessary to maintain the field of view of the navigation cameras.
The Skydio 2 both looks and feels like a well-designed and carefully thought-out drone. It’s solid, and a little on the heavy side as far as drones go—it’s primarily made out of magnesium, which (while light) is both heavier and more rigid and durable than plastic. The blue and black color scheme is far more attractive than you typically see with drones.
Photo: Evan Ackerman/IEEE Spectrum
To detect and avoid obstacles, the Skydio 2 uses an array of six 4K hemispherical cameras that feed data into an NVIDIA Jetson TX2 at 30 fps, with the drone processing a million points in 3D space per second to plan the safest path.
The Skydio 2 is built around an array of six hemispherical obstacle-avoidance cameras and the NVIDIA Jetson TX2 computing module that they’re connected to. This defines the placement of the gimbal, the motors and props, and the battery, since all of this stuff has to be as much as possible out of the view of the cameras in order for the drone to effectively avoid obstacles in any direction.
Without the bottom-mounted battery attached, the drone is quite flat. The offset props (the back pair are above the body, and the front pair are below) are necessary to maintain the field of view of the obstacle-avoidance cameras. These hemispherical cameras are on the end of each of the prop arms as well as above and below the body of the drone. They look awfully exposed, even though each is protected from ground contact by a little fin. You need to make sure these cameras are clean and smudge-free, and Skydio includes a cleaning cloth for this purpose. Underneath the drone there are slots for microSD cards, one for recording from the camera and a second one that the drone uses to store data. The attention to detail extends to the SD card insertion, which has a sloped channel that guides the card securely into its slot.
Once you snap the battery in, the drone goes from looking streamlined to looking a little chubby. Relative to other drones, the battery almost seems like an afterthought, like Skydio designed the drone and then remembered, “oops we have to add a battery somewhere, let’s just kludge it onto the bottom.” But again, the reason for this is to leave room inside the body for the NVIDIA TX2, while making sure that the battery stays out of view of the obstacle avoidance cameras.
The magnetic latching system for the battery is both solid and satisfying. I’m not sure why it’s necessary, strictly speaking, but I do like it, and it doesn’t seem like the battery will fly off even during the most aggressive maneuvers. Each battery includes an LED array that will display its charge level in 25 percent increments, as well as a button that you push to turn the drone on and off. Charging takes place via a USB-C port in the top of the drone, which I don’t like, because it means that the batteries can’t be charged on their own (like the Parrot Anafi’s battery), and that you can’t charge one battery while flying with another, like basically every other drone ever. A separate battery charger that will charge two at once is available from Skydio for an eyebrow-raising $129.
I appreciate that all of Skydio’s stuff (batteries, controller, and beacon) charges via USB-C, though. The included USB-C adapter with its beefy cable will output at up to 65 watts, which’ll charge a mostly depleted battery in under an hour. The drone turns itself on while charging, which seems unnecessary.
Photo: Evan Ackerman/IEEE Spectrum
The Skydio 2 is not foldable, making it not nearly as easy to transport as some other drones. But it does come with a nice case that mitigates this issue somewhat, and the drone plus two batteries end up as a passably flat package about the size of a laptop case.
The most obvious compromise that Skydio made with the Skydio 2 is that the drone is not foldable. Skydio CEO Adam Bry told us that adding folding joints to the arms of the Skydio 2 would have made calibrating all six cameras a nightmare and significantly impacted performance. This makes complete sense, of course, but it does mean that the Skydio 2 is not nearly as easy to transport as some other drones.
Photo: Evan Ackerman/IEEE Spectrum
Folded and unfolded: The Skydio 2 compared to the Parrot Anafi (upper left) and the DJI Mavic Pro (upper right).
The Skydio 2 does come with a very nice case that mitigates this issue somewhat, and the drone plus two batteries end up as a passably flat package about the size of a laptop case. Still, it’s just not as convenient to toss into a backpack as my Anafi, although the Mavic Mini might be even more portable.
Photo: Evan Ackerman/IEEE Spectrum
While the Skydio 2’s case is relatively compact, the non-foldable drone is overall a significantly larger package than the Parrot Anafi.
The design of the drone leads to some other compromises as well. Since landing gear would, I assume, occlude the camera system, the drone lands directly on the bottom of its battery pack, which has a slightly rubberized pad about the size of a playing card. This does’t feel particularly stable unless you end up on a very flat surface, and made me concerned for the exposed cameras underneath the drone as well as the lower set of props. I’d recommend hand takeoffs and landings—more on those later.
Skydio 2 Camera System
Photo: Evan Ackerman/IEEE Spectrum
The Skydio 2’s primary camera is a Sony IMX577 1/2.3″ 12.3-megapixel CMOS sensor. It’s mounted to a three-axis gimbal and records 4K video at 60 fps, or 1080p video at 120 fps.
The Skydio 2 comes with a three-axis gimbal supporting a 12-megapixel camera, just enough to record 4K video at 60 fps, or 1080p video at 120 fps. Skydio has provided plenty of evidence that its imaging system is at least as good if not better than other drone cameras. Tested against my Mavic Pro and Parrot Anafi, I found no reason to doubt that. To be clear, I didn’t do exhaustive pixel-peeping comparisons between them, you’re just getting my subjective opinion that the Skydio 2 has a totally decent camera that you won’t be disappointed with. I will say that I found the HDR photo function to be not all that great under the few situations in which I tested it—after looking at a few muddy sunset shots, I turned it off and was much happier.
Photo: Evan Ackerman/IEEE Spectrum
The Skydio 2’s 12-megapixel camera is solid, although we weren’t impressed with the HDR option.
The video stabilization is fantastic, to the point where watching the video footage can be underwhelming because it doesn’t reflect the motion of the drone. I almost wish there was a way to change to unstabilized (or less-stabilized) video so that the viewer could get a little more of a wild ride. Or, ideally, there’d be a way for the drone to provide you with a visualization of what it was doing using the data collected by its cameras. That’s probably wishful thinking, though. The drone itself doesn’t record audio because all you’d get would be an annoying buzz, but the app does record audio, so the audio from your phone gets combined with the drone video. Don’t expect great quality, but it’s better than nothing.
Skydio 2 App
The app is very simple compared to every other drone app I’ve tried, and that’s a good thing. Here’s what it looks like:
Image: Skydio
Trackable subjects get a blue “+” sign over them, and if you tap them, the “+” turns into a spinny blue circle. Once you’ve got a subject selected, you can choose from a variety of cinematic skills that the drone will execute while following you.
You get the controls that you need and the information that you need, and nothing else. Manual flight with the on-screen buttons works adequately, and the double-tap to fly function on the phone works surprisingly well, making it easy to direct the drone to a particular spot above the ground.
The settings menus are limited but functional, allowing you to change settings for the camera and a few basic tweaks for controlling the drone. One unique setting to the Skydio 2 is the height floor—since the drone only avoids static obstacles, you can set it to maintain a height of at least 8 feet above the ground while flying autonomously to make sure that if you’re flying around other people, it won’t run into anyone who isn’t absurdly tall and therefore asking for it.
Trackable subjects get a blue “+” sign over them in the app, and if you tap them, the “+” turns into a spinny blue circle. Once you’ve got a subject selected, you can choose from a variety of cinematic skills that the drone will execute while following you, and in addition, you can select “one-shot” skills that involve the drone performing a specific maneuver before returning to the previously selected cinematic skill. For example, you can tell the drone to orbit around you, and then do a “rocket” one-shot where it’ll fly straight up above you (recording the whole time, of course), before returning to its orbiting.
After you’re done flying, you can scroll through your videos and easily clip out excerpts from them and save them to your phone for sharing. Again, it’s a fairly simple interface without a lot of options. You could call it limited, I guess, but I appreciate that it just does a few things that you care about and otherwise doesn’t clutter itself up.
The real limitation of the app is that it uses Wi-Fi to connect to the Skydio 2, which restricts the range. To fly much beyond a hundred meters or so, you’ll need to use the controller or beacon instead.
Skydio 2 Controller and Beacon
Photo: Evan Ackerman/IEEE Spectrum
While the Skydio 2 controller provides a better hands-on flight experience than with the phone, plus an extended range of up to 3.5 km, more experienced pilots may find manual control a bit frustrating, because the underlying autonomy will supersede your maneuvers when you start getting close to objects.
I was looking forward to using the controller, because with every other drone I’ve had, the precision that a physically controller provides is, I find, mandatory for a good flying experience and to get the photos and videos that you want. With Skydio 2, that’s all out the window. It’s not that the controller is useless or anything, it’s just that because the drone tracks you and avoids obstacles on its own, that level of control precision becomes largely unnecessary.
The controller itself is perfectly fine. It’s a rebranded Parrot Skycontroller3, which is the same as the one that you get with a Parrot Anafi. It’s too bad that the sticks don’t unscrew to make it a little more portable, and overall it’s functional rather than fancy, but it feels good to use and includes a sizeable antenna that makes a significant difference to the range that you get (up to 3.5 kilometers).
You definitely get a better hands-on flight experience with the controller than with the phone, so if you want to (say) zip the drone around some big open space for fun, it’s good for that. And it’s nice to be able to hand the controller to someone who’s never flown a drone before and let them take it for a spin without freaking out about them crashing it the whole time. For more experienced pilots, though, the controller is ultimately just a bit frustrating, because the underlying autonomy will supersede your control when you start getting close to objects, which (again) limits how useful the controller is relative to your phone.
I do still prefer the controller over the phone, but I’m not sure that it’s worth the extra $150, unless you plan to fly the Skydio 2 at very long distances or primarily in manual mode. And honestly, if either of those two things are your top priority, the Skydio 2 is probably not the drone for you.
Photo: Evan Ackerman/IEEE Spectrum
The Skydio 2 beacon uses GPS tracking to help the drone follow you, extending range up to 1.5 km. You can also fly the with the beacon alone, no phone necessary.
The purpose of the beacon, according to Skydio, is to give the drone a way of tracking you if it can’t see you, which can happen, albeit infrequently. My initial impression of the beacon was that it was primarily useful as a range-extending bridge between my phone and the drone. But I accidentally left my phone at home one day (oops) and had to fly the drone with only the beacon, and it was a surprisingly decent experience. The beacon allows for full manual control of a sort—you can tap different buttons to rotate, fly forward, and ascend or descend. This is sufficient for takeoff, landing, to make sure that the drone is looking at you when you engage visual tracking, and to rescue it if it gets trapped somewhere.
The rest of the beacon’s control functions are centered around a few different tracking modes, and with these, it works just about as well as your phone. You have fewer options overall, but all the basic stuff is there with just a few intuitive button clicks, including tracking range and angle. If you’re willing to deal with this relatively minor compromise, it’s nice to not have your phone available for other things rather than being monopolized by the drone.
Skydio 2 In Flight
GIF: Evan Ackerman/IEEE Spectrum
Hand takeoffs are simple and reliable.
Click here for a full resolution clip.
Starting up the Skydio 2 doesn’t require any kind of unusual calibration steps or anything like that. It prefers to be kept still, but you can start it up while holding it, it’ll just take a few seconds longer to tell you that it’s ready to go. While the drone will launch from any flat surface with significant clearance around it (it’ll tell you if it needs more room), the small footprint of the battery means that I was more comfortable hand launching it. This is not a “throw” launch; you just let the drone rest on your palm, tell it to take off, and then stay still while it gets its motors going and then gently lifts off. The lift off is so gentle that you have to be careful not to pull your hand away too soon—I did that once and the drone, being not quite ready, dropped towards the ground, but managed to recover without much drama.
GIF: Evan Ackerman/IEEE Spectrum
Hand landings always look scary, but the Skydio 2 is incredibly gentle. After trying this once, it became the only way I ever landed the drone.
Click here for a full resolution clip.
Catching the drone for landing is perhaps very slightly more dangerous, but not any more difficult. You put the drone above and in front of you facing away, tell it to land in the app or with the beacon, and then put your hand underneath it to grasp it as it slowly descends. It settles delicately and promptly turns itself off. Every drone should land this way. The battery pack provides a good place to grip, although you do have to be mindful of the forward set of props, which (since they’re the pair that are beneath the body of drone) are quite close to your fingers. You’ll certainly be mindful after you catch a blade with your fingers once. Which I did. For the purposes of this review and totally not by accident. No damage, for the record.
Photo: Evan Ackerman/IEEE Spectrum
You won’t be disappointed with the Skydio 2’s in-flight performance, unless you’re looking for a dedicated racing drone.
In normal flight, the Skydio 2 performs as well as you’d expect. It’s stable and manages light to moderate wind without any problems, although I did notice some occasional lateral drifting when the drone should have been in a stationary hover. While the controller gains are adjustable, the Skydio 2 isn’t quite as aggressive in flight as my Mavic Pro on Sport Mode, but again, if you’re looking for a high-speed drone, that’s really not what the Skydio is all about.
The Skydio 2 is substantially louder than my Anafi, although the Anafi is notably quiet for a drone. It’s not annoying to hear (not a high-pitched whine), but you can hear it from a ways away, and farther away than my Mavic Pro. I’m not sure whether that’s because of the absolute volume or the volume plus the pitch. In some ways, this is a feature, since you can hear the drone following you even if you’re not looking at it, you just need to be aware of the noise it makes when you’re flying it around people.
Obstacle Avoidance
The primary reason Skydio 2 is the drone that you want to fly is because of its autonomous subject tracking and obstacle avoidance. Skydio’s PR videos make this capability look almost too good, and since I hadn’t tried out one of their drones before, the first thing I did with it was exactly what you’d expect: attempt to fly it directly into the nearest tree.
GIF: Evan Ackerman/IEEE Spectrum
The Skydio 2 deftly slides around trees and branches. The control inputs here were simple “forward” or “turn,” all obstacle avoidance is autonomous.
Click here for a full resolution clip.
And it just won’t do it. It slows down a bit, and then slides right around one tree after another, going over and under and around branches. I pointed the drone into a forest and just held down “forward” and away it went, without any fuss, effortlessly ducking and weaving its way around. Of course, it wasn’t effortless at all—six 4K cameras were feeding data into the NVIDIA TX2 at 30 fps, and the drone was processing a million points in 3D space per second to plan the safest path while simultaneously taking into account where I wanted it to go. I spent about 10 more minutes doing my level best to crash the drone into anything at all using a flying technique probably best described as “reckless,” but the drone was utterly unfazed. It’s incredible.
What knocked my socks off was telling the drone to pass through treetops—in the clip below, I’m just telling the drone to fly straight down. Watch as it weaves its way through gaps between the branches:
GIF: Evan Ackerman/IEEE Spectrum
The result of parking the Skydio 2 above some trees and holding “down” on the controller is this impressive fully autonomous descent through the branches.
Click here for a full resolution clip.
Here’s one more example, where I sent the drone across a lake and started poking around in a tree. Sometimes the Skydio 2 isn’t sure where you want it to go, and you have to give it a little bit of a nudge in a clear direction, but that’s it.
GIF: Evan Ackerman/IEEE Spectrum
In obstacle-heavy environments, the Skydio 2 prudently slows down, but it can pick its way through almost anything that it can see.
Click here for a full resolution clip.
It’s important to keep in mind that all of the Skydio 2’s intelligence is based on vision. It uses cameras to see the world, which means that it has similar challenges as your eyes do. Specifically, Skydio warns against flying in the following conditions:
Skydio 2 can’t see certain visually challenging obstacles. Do not fly around thin branches, telephone or power lines, ropes, netting, wires, chain link fencing or other objects less than ½ inch in diameter.
Do not fly around transparent surfaces like windows or reflective surfaces like mirrors greater than 60 cm wide.
When the sun is low on the horizon, it can temporarily blind Skydio 2’s cameras depending on the angle of flight. Your drone may be cautious or jerky when flying directly toward the sun.
Basically, if you’d have trouble seeing a thing, or seeing under some specific flight conditions, then the Skydio 2 almost certainly will also. It gets even more problematic when challenging obstacles are combined with challenging flight conditions, which is what I’m pretty sure led to the only near-crash I had with the drone. Here’s a video:
GIF: Evan Ackerman/IEEE Spectrum
Flying around very thin branches and into the sun can cause problems for the Skydio 2’s obstacle avoidance.
Click here for a full resolution clip.
I had the Skydio 2 set to follow me on my bike (more about following and tracking in a bit). It was mid afternoon, but since it’s late fall here in Washington, D.C., the sun doesn’t get much higher than 30 degrees above the horizon. Late fall also means that most of the deciduous trees have lost their leaves, and so there are a bunch of skinny branches all over the place. The drone was doing a pretty good job of following me along the road at a relatively slow speed, and then it clipped the branch that you can just barely see in the video above. It recovered in an acrobatic maneuver that has been mostly video-stabilized out, and resumed tracking me before I freaked and told it to land. You can see another example here, where the drone (again) clips a branch that has the sun behind it, and this clip shows me stopping my bike before the drone runs into another branch in a similar orientation. As the video shows, it’s very hard to see the branches until it’s too late.
As far as I can tell, the drone is no worse for wear from any of this, apart from a small nick in one of the props. But, this is a good illustration of a problematic situation for the Skydio 2: flying into a low sun angle around small bare branches. Should I not have been flying the drone in this situation? It’s hard to say. These probably qualify as “thin branches,” although there was plenty of room along with middle of the road. There is an open question with the Skydio 2 as to exactly how much responsibility the user should have about when and where it’s safe to fly—for branches, how thin is too thin? How low can the sun be? What if the branches are only kinda thin and the sun is only kinda low, but it’s also a little windy? Better to be safe than sorry, of course, but there’s really no way for the user (or the drone) to know what it can’t handle until it can’t handle it.
Edge cases like these aside, the obstacle avoidance just works. Even if you’re not deliberately trying to fly into branches, it’s keeping a lookout for you all the time, which means that flying the drone goes from somewhat stressful to just pure fun. I can’t emphasize enough how amazing it is to be able to fly without worrying about running into things, and how great it feels to be able to hand the controller to someone who’s never flown a drone before and say, with complete confidence, “go ahead, fly it around!”
Skydio 2 vs. DJI Mavic
Photo: Evan Ackerman/IEEE Spectrum
Both the Skydio 2 and many models of DJI’s Mavic use visual obstacle avoidance, but the Skydio 2 is so much more advanced that you can’t really compare the two systems.
It’s important to note that there’s a huge difference between the sort of obstacle avoidance that you get with a DJI Mavic, and the sort of obstacle avoidance that you get with the Skydio 2. The objective of the Mavic’s obstacle avoidance is really there to prevent you from accidentally running into things, and in that capacity, it usually works. But there are two things to keep in mind here—first, not running into things is not the same as avoiding things, because avoiding things means planning several steps ahead, not just one step.
Second, there’s the fact that the Mavic’s obstacle detection only works most of the time. Fundamentally, I don’t trust my Mavic Pro, because sometimes the safety system doesn’t kick in for whatever reason and the drone ends up alarmingly close to something. And that’s actually fine, because with the Mavic, I expect to be piloting it. It’s for this same reason that I don’t care that my Parrot Anafi doesn’t have obstacle avoidance at all: I’m piloting it anyway, and I’m a careful pilot, so it just doesn’t matter. The Skydio 2 is totally and completely different. It’s in a class by itself, and you can’t compare what it can do to what anything else out there right now. Period.
Skydio 2 Tracking
Skydio’s big selling point on the Skydio 2 is that it’ll autonomously track you while avoiding obstacles. It does this visually, by watching where you go, predicting your future motion, and then planning its own motion to keep you in frame. The works better than you might expect, in that it’s really very good at not losing you. Obviously, the drone prioritizes not running into stuff over tracking you, which means that it may not always be where you feel like it should be. It’s probably trying to get there, but in obstacle dense environments, it can take some creative paths.
Having said that, I found it to be very consistent with keeping me in the frame, and I only managed to lose it when changing direction while fully occluded by an obstacle, or while it was executing an avoidance maneuver that was more dynamic than normal. If you deliberately try to hide from the drone it’s not that hard to do so if there are enough obstacles around, but I didn’t find the tracking to be something that I had to worry about it most cases. When tracking does fail and you’re not using the beacon, the drone will come to a hover. It won’t try and find you, but it will reacquire you if you get back into its field of view.
The Skydio 2 had no problem tracking me running through fairly dense trees:
GIF: Evan Ackerman/IEEE Spectrum
The Skydio 2 had no problem chasing me around through these trees, even while I was asking it to continually change its tracking angle.
Click here for a full resolution clip.
It also managed to keep up with me as I rode my bike along a tree-lined road:
GIF: Evan Ackerman/IEEE Spectrum
The Skydio 2 is easily fast enough to keep up with me on a bike, even while avoiding tree branches.
Click here for a full resolution clip.
It lost me when I asked it to follow very close behind me as I wove through some particularly branch-y trees, but it fails more or less gracefully by just sort of nope-ing out of situations when they start to get bad and coming to a hover somewhere safe.
GIF: Evan Ackerman/IEEE Spectrum
The Skydio 2 knows better than to put itself into situations that it can’t handle, and will bail to a safe spot if things get too complicated.
Click here for a full resolution clip.
After a few days of playing with the drone, I started to get to the point where I could set it to track me and then just forget about it while I rode my bike or whatever, as opposed to constantly turning around to make sure it was still behind me, which is what I was doing initially. It’s a level of trust that I don’t think would be possible with any other drone.
Should You Buy a Skydio 2?
Photo: Evan Ackerman/IEEE Spectrum
We think the Skydio 2 is fun and relaxing to fly, with unique autonomous intelligence that makes it worth the cost.
In case I haven’t said it often enough in this review, the Skydio 2 is an incredible piece of technology. As far as I know (as a robotics journalist, mind you), this represents the state of the art in commercial drone autonomy, and quite possibly the state of the art in drone autonomy, period. And it’s available for $999, which is expensive, but less money than a Mavic Pro 2. If you’re interested in a new drone, you should absolutely consider the Skydio 2.
There are some things to keep in mind—battery life is a solid but not stellar 20 minutes. Extra batteries are expensive at $99 each (the base kit includes just one). The controller and the beacon are also expensive, at $150 each. And while I think the Skydio 2 is definitely the drone you want to fly, it may not be the drone you want to travel with, since it’s bulky compared to other options.
But there’s no denying the fact that the experience is uniquely magical. Once you’ve flown the Skydio 2, you won’t want to fly anything else. This drone makes it possible to get pictures and videos that would be otherwise impossible, and you can do it completely on your own. You can trust the drone to do what it promises, as long as you’re mindful of some basic and common sense safety guidelines. And we’ve been told that the drone is only going to get smarter and more capable over time.
If you buy a Skydio 2, it comes with the following warranty from Skydio:
“If you’re operating your Skydio 2 within our Safe Flight guidelines, and it crashes, we’ll repair or replace it for free.”
Skydio trusts their drone to go out into a chaotic and unstructured world and dodge just about anything that comes its way. And after a week with this drone, I can see how they’re able to offer this kind of guarantee. This is the kind of autonomy that robots have been promising for years, and the Skydio 2 makes it real.
Detailed technical specifications are available on Skydio’s website, and if you have any questions, post a comment—we’ve got this drone for a little while longer, and I’d be happy to try out (nearly) anything with it.
Skydio 2 Review Video Highlights
This video is about 7 minutes of 4K, 30 fps footage directly from the Skydio 2. The only editing I did was cutting clips together, no stabilization or color correcting or anything like that. The drone will record in 4K 60 fps, so it gets smoother than this, but I, er, forgot to change the setting.
[ Skydio ] Continue reading →
Posted in Human Robots
#436186 Video Friday: Invasion of the Mini ...
Video Friday is your weekly selection of awesome robotics videos, collected by your Automaton bloggers. We’ll also be posting a weekly calendar of upcoming robotics events for the next few months; here's what we have so far (send us your events!):
DARPA SubT Urban Circuit – February 18-27, 2020 – Olympia, Wash., USA
Let us know if you have suggestions for next week, and enjoy today’s videos.
There will be a Mini-Cheetah Workshop (sponsored by Naver Labs) a year from now at IROS 2020 in Las Vegas. Mini-Cheetahs for everyone!
That’s just a rendering, of course, but this isn’t:
[ MCW ]
I was like 95 percent sure that the Urban Circuit of the DARPA SubT Challenge was going to be in something very subway station-y. Oops!
In the Subterranean (SubT) Challenge, teams deploy autonomous ground and aerial systems to attempt to map, identify, and report artifacts along competition courses in underground environments. The artifacts represent items a first responder or service member may encounter in unknown underground sites. This video provides a preview of the Urban Circuit event location. The Urban Circuit is scheduled for February 18-27, 2020, at Satsop Business Park west of Olympia, Washington.
[ SubT ]
Researchers at SEAS and the Wyss Institute for Biologically Inspired Engineering have developed a resilient RoboBee powered by soft artificial muscles that can crash into walls, fall onto the floor, and collide with other RoboBees without being damaged. It is the first microrobot powered by soft actuators to achieve controlled flight.
To solve the problem of power density, the researchers built upon the electrically-driven soft actuators developed in the lab of David Clarke, the Extended Tarr Family Professor of Materials. These soft actuators are made using dielectric elastomers, soft materials with good insulating properties, that deform when an electric field is applied. By improving the electrode conductivity, the researchers were able to operate the actuator at 500 Hertz, on par with the rigid actuators used previously in similar robots.
Next, the researchers aim to increase the efficiency of the soft-powered robot, which still lags far behind more traditional flying robots.
[ Harvard ]
We present a system for fast and robust handovers with a robot character, together with a user study investigating the effect of robot speed and reaction time on perceived interaction quality. The system can match and exceed human speeds and confirms that users prefer human-level timing.
In a 3×3 user study, we vary the speed of the robot and add variable sensorimotor delays. We evaluate the social perception of the robot using the Robot Social Attribute Scale (RoSAS). Inclusion of a small delay, mimicking the delay of the human sensorimotor system, leads to an improvement in perceived qualities over both no delay and long delay conditions. Specifically, with no delay the robot is perceived as more discomforting and with a long delay, it is perceived as less warm.
[ Disney Research ]
When cars are autonomous, they’re not going to be able to pump themselves full of gas. Or, more likely, electrons. Kuka has the solution.
[ Kuka ]
This looks like fun, right?
[ Robocoaster ]
NASA is leading the way in the use of On-orbit Servicing, Assembly, and Manufacturing to enable large, persistent, upgradable, and maintainable spacecraft. This video was developed by the Advanced Concepts Lab (ACL) at NASA Langley Research Center.
[ NASA ]
The noisiest workshop by far at Humanoids last month (by far) was Musical Interactions With Humanoids, the end result of which was this:
[ Workshop ]
IROS is an IEEE event, and in furthering the IEEE mission to benefit humanity through technological innovation, IROS is doing a great job. But don’t take it from us – we are joined by IEEE President-Elect Professor Toshio Fukuda to find out a bit more about the impact events like IROS can have, as well as examine some of the issues around intelligent robotics and systems – from privacy to transparency of the systems at play.
[ IROS ]
Speaking of IROS, we hope you’ve been enjoying our coverage. We have already featured Harvard’s strange sea-urchin-inspired robot and a Japanese quadruped that can climb vertical ladders, with more stories to come over the next several weeks.
In the mean time, enjoy these 10 videos from the conference (as usual, we’re including the title, authors, and abstract for each—if you’d like more details about any of these projects, let us know and we’ll find out more for you).
“A Passive Closing, Tendon Driven, Adaptive Robot Hand for Ultra-Fast, Aerial Grasping and Perching,” by Andrew McLaren, Zak Fitzgerald, Geng Gao, and Minas Liarokapis from the University of Auckland, New Zealand.
Current grasping methods for aerial vehicles are slow, inaccurate and they cannot adapt to any target object. Thus, they do not allow for on-the-fly, ultra-fast grasping. In this paper, we present a passive closing, adaptive robot hand design that offers ultra-fast, aerial grasping for a wide range of everyday objects. We investigate alternative uses of structural compliance for the development of simple, adaptive robot grippers and hands and we propose an appropriate quick release mechanism that facilitates an instantaneous grasping execution. The quick release mechanism is triggered by a simple distance sensor. The proposed hand utilizes only two actuators to control multiple degrees of freedom over three fingers and it retains the superior grasping capabilities of adaptive grasping mechanisms, even under significant object pose or other environmental uncertainties. The hand achieves a grasping time of 96 ms, a maximum grasping force of 56 N and it is able to secure objects of various shapes at high speeds. The proposed hand can serve as the end-effector of grasping capable Unmanned Aerial Vehicle (UAV) platforms and it can offer perching capabilities, facilitating autonomous docking.
“Unstructured Terrain Navigation and Topographic Mapping With a Low-Cost Mobile Cuboid Robot,” by Andrew S. Morgan, Robert L. Baines, Hayley McClintock, and Brian Scassellati from Yale University, USA.
Current robotic terrain mapping techniques require expensive sensor suites to construct an environmental representation. In this work, we present a cube-shaped robot that can roll through unstructured terrain and construct a detailed topographic map of the surface that it traverses in real time with low computational and monetary expense. Our approach devolves many of the complexities of locomotion and mapping to passive mechanical features. Namely, rolling movement is achieved by sequentially inflating latex bladders that are located on four sides of the robot to destabilize and tip it. Sensing is achieved via arrays of fine plastic pins that passively conform to the geometry of underlying terrain, retracting into the cube. We developed a topography by shade algorithm to process images of the displaced pins to reconstruct terrain contours and elevation. We experimentally validated the efficacy of the proposed robot through object mapping and terrain locomotion tasks.
“Toward a Ballbot for Physically Leading People: A Human-Centered Approach,” by Zhongyu Li and Ralph Hollis from Carnegie Mellon University, USA.
This work presents a new human-centered method for indoor service robots to provide people with physical assistance and active guidance while traveling through congested and narrow spaces. As most previous work is robot-centered, this paper develops an end-to-end framework which includes a feedback path of the measured human positions. The framework combines a planning algorithm and a human-robot interaction module to guide the led person to a specified planned position. The approach is deployed on a person-size dynamically stable mobile robot, the CMU ballbot. Trials were conducted where the ballbot physically led a blindfolded person to safely navigate in a cluttered environment.
“Achievement of Online Agile Manipulation Task for Aerial Transformable Multilink Robot,” by Fan Shi, Moju Zhao, Tomoki Anzai, Keita Ito, Xiangyu Chen, Kei Okada, and Masayuki Inaba from the University of Tokyo, Japan.
Transformable aerial robots are favorable in aerial manipulation tasks for their flexible ability to change configuration during the flight. By assuming robot keeping in the mild motion, the previous researches sacrifice aerial agility to simplify the complex non-linear system into a single rigid body with a linear controller. In this paper, we present a framework towards agile swing motion for the transformable multi-links aerial robot. We introduce a computational-efficient non-linear model predictive controller and joints motion primitive frame-work to achieve agile transforming motions and validate with a novel robot named HYRURS-X. Finally, we implement our framework under a table tennis task to validate the online and agile performance.
“Small-Scale Compliant Dual Arm With Tail for Winged Aerial Robots,” by Alejandro Suarez, Manuel Perez, Guillermo Heredia, and Anibal Ollero from the University of Seville, Spain.
Winged aerial robots represent an evolution of aerial manipulation robots, replacing the multirotor vehicles by fixed or flapping wing platforms. The development of this morphology is motivated in terms of efficiency, endurance and safety in some inspection operations where multirotor platforms may not be suitable. This paper presents a first prototype of compliant dual arm as preliminary step towards the realization of a winged aerial robot capable of perching and manipulating with the wings folded. The dual arm provides 6 DOF (degrees of freedom) for end effector positioning in a human-like kinematic configuration, with a reach of 25 cm (half-scale w.r.t. the human arm), and 0.2 kg weight. The prototype is built with micro metal gear motors, measuring the joint angles and the deflection with small potentiometers. The paper covers the design, electronics, modeling and control of the arms. Experimental results in test-bench validate the developed prototype and its functionalities, including joint position and torque control, bimanual grasping, the dynamic equilibrium with the tail, and the generation of 3D maps with laser sensors attached at the arms.
“A Novel Small-Scale Turtle-inspired Amphibious Spherical Robot,” by Huiming Xing, Shuxiang Guo, Liwei Shi, Xihuan Hou, Yu Liu, Huikang Liu, Yao Hu, Debin Xia, and Zan Li from Beijing Institute of Technology, China.
This paper describes a novel small-scale turtle-inspired Amphibious Spherical Robot (ASRobot) to accomplish exploration tasks in the restricted environment, such as amphibious areas and narrow underwater cave. A Legged, Multi-Vectored Water-Jet Composite Propulsion Mechanism (LMVWCPM) is designed with four legs, one of which contains three connecting rod parts, one water-jet thruster and three joints driven by digital servos. Using this mechanism, the robot is able to walk like amphibious turtles on various terrains and swim flexibly in submarine environment. A simplified kinematic model is established to analyze crawling gaits. With simulation of the crawling gait, the driving torques of different joints contributed to the choice of servos and the size of links of legs. Then we also modeled the robot in water and proposed several underwater locomotion. In order to assess the performance of the proposed robot, a series of experiments were carried out in the lab pool and on flat ground using the prototype robot. Experiments results verified the effectiveness of LMVWCPM and the amphibious control approaches.
“Advanced Autonomy on a Low-Cost Educational Drone Platform,” by Luke Eller, Theo Guerin, Baichuan Huang, Garrett Warren, Sophie Yang, Josh Roy, and Stefanie Tellex from Brown University, USA.
PiDrone is a quadrotor platform created to accompany an introductory robotics course. Students build an autonomous flying robot from scratch and learn to program it through assignments and projects. Existing educational robots do not have significant autonomous capabilities, such as high-level planning and mapping. We present a hardware and software framework for an autonomous aerial robot, in which all software for autonomy can run onboard the drone, implemented in Python. We present an Unscented Kalman Filter (UKF) for accurate state estimation. Next, we present an implementation of Monte Carlo (MC) Localization and Fast-SLAM for Simultaneous Localization and Mapping (SLAM). The performance of UKF, localization, and SLAM is tested and compared to ground truth, provided by a motion-capture system. Our evaluation demonstrates that our autonomous educational framework runs quickly and accurately on a Raspberry Pi in Python, making it ideal for use in educational settings.
“FlightGoggles: Photorealistic Sensor Simulation for Perception-driven Robotics using Photogrammetry and Virtual Reality,” by Winter Guerra, Ezra Tal, Varun Murali, Gilhyun Ryou and Sertac Karaman from the Massachusetts Institute of Technology, USA.
FlightGoggles is a photorealistic sensor simulator for perception-driven robotic vehicles. The key contributions of FlightGoggles are twofold. First, FlightGoggles provides photorealistic exteroceptive sensor simulation using graphics assets generated with photogrammetry. Second, it provides the ability to combine (i) synthetic exteroceptive measurements generated in silico in real time and (ii) vehicle dynamics and proprioceptive measurements generated in motio by vehicle(s) in flight in a motion-capture facility. FlightGoggles is capable of simulating a virtual-reality environment around autonomous vehicle(s) in flight. While a vehicle is in flight in the FlightGoggles virtual reality environment, exteroceptive sensors are rendered synthetically in real time while all complex dynamics are generated organically through natural interactions of the vehicle. The FlightGoggles framework allows for researchers to accelerate development by circumventing the need to estimate complex and hard-to-model interactions such as aerodynamics, motor mechanics, battery electrochemistry, and behavior of other agents. The ability to perform vehicle-in-the-loop experiments with photorealistic exteroceptive sensor simulation facilitates novel research directions involving, e.g., fast and agile autonomous flight in obstacle-rich environments, safe human interaction, and flexible sensor selection. FlightGoggles has been utilized as the main test for selecting nine teams that will advance in the AlphaPilot autonomous drone racing challenge. We survey approaches and results from the top AlphaPilot teams, which may be of independent interest. FlightGoggles is distributed as open-source software along with the photorealistic graphics assets for several simulation environments, under the MIT license at http://flightgoggles.mit.edu.
“An Autonomous Quadrotor System for Robust High-Speed Flight Through Cluttered Environments Without GPS,” by Marc Rigter, Benjamin Morrell, Robert G. Reid, Gene B. Merewether, Theodore Tzanetos, Vinay Rajur, KC Wong, and Larry H. Matthies from University of Sydney, Australia; NASA Jet Propulsion Laboratory, California Institute of Technology, USA; and Georgia Institute of Technology, USA.
Robust autonomous flight without GPS is key to many emerging drone applications, such as delivery, search and rescue, and warehouse inspection. These and other appli- cations require accurate trajectory tracking through cluttered static environments, where GPS can be unreliable, while high- speed, agile, flight can increase efficiency. We describe the hardware and software of a quadrotor system that meets these requirements with onboard processing: a custom 300 mm wide quadrotor that uses two wide-field-of-view cameras for visual- inertial motion tracking and relocalization to a prior map. Collision-free trajectories are planned offline and tracked online with a custom tracking controller. This controller includes compensation for drag and variability in propeller performance, enabling accurate trajectory tracking, even at high speeds where aerodynamic effects are significant. We describe a system identification approach that identifies quadrotor-specific parameters via maximum likelihood estimation from flight data. Results from flight experiments are presented, which 1) validate the system identification method, 2) show that our controller with aerodynamic compensation reduces tracking error by more than 50% in both horizontal flights at up to 8.5 m/s and vertical flights at up to 3.1 m/s compared to the state-of-the-art, and 3) demonstrate our system tracking complex, aggressive, trajectories.
“Morphing Structure for Changing Hydrodynamic Characteristics of a Soft Underwater Walking Robot,” by Michael Ishida, Dylan Drotman, Benjamin Shih, Mark Hermes, Mitul Luhar, and Michael T. Tolley from the University of California, San Diego (UCSD) and University of Southern California, USA.
Existing platforms for underwater exploration and inspection are often limited to traversing open water and must expend large amounts of energy to maintain a position in flow for long periods of time. Many benthic animals overcome these limitations using legged locomotion and have different hydrodynamic profiles dictated by different body morphologies. This work presents an underwater legged robot with soft legs and a soft inflatable morphing body that can change shape to influence its hydrodynamic characteristics. Flow over the morphing body separates behind the trailing edge of the inflated shape, so whether the protrusion is at the front, center, or back of the robot influences the amount of drag and lift. When the legged robot (2.87 N underwater weight) needs to remain stationary in flow, an asymmetrically inflated body resists sliding by reducing lift on the body by 40% (from 0.52 N to 0.31 N) at the highest flow rate tested while only increasing drag by 5.5% (from 1.75 N to 1.85 N). When the legged robot needs to walk with flow, a large inflated body is pushed along by the flow, causing the robot to walk 16% faster than it would with an uninflated body. The body shape significantly affects the ability of the robot to walk against flow as it is able to walk against 0.09 m/s flow with the uninflated body, but is pushed backwards with a large inflated body. We demonstrate that the robot can detect changes in flow velocity with a commercial force sensor and respond by morphing into a hydrodynamically preferable shape. Continue reading →
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