In 1961, the world's first industrial robot appeared on the General Motors production line. Its name was Unimate. Half a century later, robots have spread all walks of life, but most of them are still concentrated in the industrial sector. Most of them are fixed on the ground and work on the assembly line. Now, with the development of robots, more and more robots have gone out of the laboratory, out of the factory and into our lives. The robot has broken the rigid image of the past and has become more and more mobile. It looks more and more like human beings. More importantly, they begin to be self-aware and able to interact with the environment. Researchers at IIT (Italian Institute of Science and Technology) in Genoa, Italy, created a humanoid robot named iCub (i was taken from "i, Robot" in i; Cub was taken from the book "The Book of the Jungle" A group of young human-cub boys (cube-cub), 104cm in length, are similar to a 5-year-old child. Limbs range up to 53 degrees, with tactile and physical coordination. They can grab things, play hide-and-seek, and even dance to music. Its eyes and head can track the trajectory of the ball in motion, and a customized pressure sensor is installed on the arm. It can be said that many science and technology powders are very familiar with this robot. Its reputation derives from the realization of the robot's leap from "obeying orders" to "owning self-awareness" and has a pioneering significance in the history of robot development. With the gradual improvement of learning ability, iCub will probably become a robot assistant with the movie character “Bai Bai†in the future. It will not treat you as a master, but as a friend or girlfriend because it can listen to your troubles and even tease you. Smile, and give you an idea to solve the problem. In the process of creating iCub, researchers emphasized "learning of cognitive ability" and used it as an open source platform to obtain various types of behavioral and cognitive abilities by interacting with the environment and interacting with people. It absorbs the way the real brain works. The iCub control system designed by the researchers simulates key processes in the mammalian brain. The interaction between these processes is governed by distributed adaptive control. This system is based on the cognitive structure of the brain. The key to the process for researchers to set up to simulate the ecological self of humans is to make robots aware of their own bodies and how they interact with their surroundings. For iCub to achieve this, it needs an internal “body schema†that links the physical components to body poses. Other robotics scientists may directly program the "body schema," but the Italian Institute of Technology does not, and they give iCub the ability to solve it on its own. It conducts some small random movements and observes the consequences of behaviors to learn from them. Humans exhibit similar exploration behaviors in the womb and early in babies. The term is called motor babbling. In other words, the robot can associate virtual complex behavior with visual auditory feedback so that sensory feedback is expected when it outputs behavior. This is similar to the process by which babies learn to take objects and learn to speak, which means that humans understand their bodies in a roughly similar way. With this approach, researchers work hard to train iCub to distinguish between itself and others. This is a fundamental aspect of ecological self. The motor babbling program also allows the robot to learn how to pose a specific set of poses. Combining this body model with knowledge of nearby and surface objects allows iCub to move around without colliding with something. Therefore, they did an experiment whose main goal was to allow iCub to have multiple contacts with the surroundings while maintaining a certain posture. In order to achieve the goal, they first need to know which parts of the robot body need to touch. At the same time, we also need to know the pressure and torque that can maintain the stability of the robot. In order for iCub to maintain contact with the surrounding environment while maintaining the desired posture, the key points are low-level joint torque control, dynamic control of task space reversal, thinking of planning, stress relief, and joint torque prediction. They are very important for robots to maintain balance, especially the task space reversal dynamic controller, which can be used to find these torques to keep the robot in balance while maintaining a certain posture. How can you interact with the environment after iCub's contact with the environment is achieved? The answer given by the research team is this: They code iCub's interaction with the surrounding environment in a special way so that it can more clearly understand the connection with the current situation. So, in this way, iCub has self-awareness and the ability to perceive the surrounding environment. However, robots with "reading mind" are more or less terrible, but anyway, to have such a "good friend", why not?
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