SHAKEY

 

Shakey ´Â Ãß·ÐÇÏ¿© ÇൿÇÏ´Â ÃÖÃÊÀÇ mobile robot ÀÌ´Ù. Stanford Research Institute (SRI) ÀÇ Artificial Intelligence Center ¿¡¼­ 1966 ºÎÅÍ 1972 ±îÁö °³¹ßÇÑ °ÍÀÌ´Ù. Shakey ´Â ½ÇÁúÀûÀÎ Àü¼³°ú °°Àº °ÍÀÌ°í ÇöÀçÀÇ AI ¿Í ·Îº¿°øÇп¡ ¿µÇâÀ» ³¢ÃÆ´Ù. SHAKEY ÇÁ·ÎÁ§Æ®´Â ³í¸®Àû Ã߷аú ¹°¸®Àû ÇൿÀÇ ¿ÏÀüÇÑ ÅëÇÕÀ» º¸¿©ÁØ ÃÖÃÊÀÇ °ÍÀ̾ú´Ù.

Nilsson, N., (ed.), Shakey the Robot, Technical Note 323, (about 6 MB), SRI International, Menlo Park, CA, 1984

SHAKEY video : ÀÌ Çʸ§ SHAKEY: Experimentation in Robot Learning and Planning Àº 1969 ³âÂë¿¡ Peter Hart ¿Í Nils J.Nilsson ÀÌ ¸¸µç°ÍÀÌ´Ù.

Shakey ´Â TV camera, triangulating range finder, bump sensors, DEC PDP-10 ±×¸®°í PDP-15 ÄÄÇ»ÅÍ¿Í  radio and video link ¸¦ ÅëÇؼ­ ¿¬°áµÈ´Ù. ¶ÇÇÑ perception, world-modeling, acting À» À§ÇÑ ÇÁ·Î±×·¥À» »ç¿ëÇß´Ù. ³·Àº ¼öÁØÀÇ action routines ÀÌ °£´ÜÇÑ moving, turning, route planning µîÀ» ó¸®ÇÑ´Ù. Áß°£ ¼öÁØÀÇ action Àº ´õ º¹ÀâÇÑ ÀϵéÀ» È®½ÇÈ÷ ¼öÇàÇϵµ·Ï ³·Àº ¼öÁØÀÇ action À» ¼­·Î ¿¬°áÇÏ¿© ¼öÇàµÈ´Ù. ³ôÀº ¼öÁØÀÇ ÇÁ·Î±×·¥µéÀº »ç¿ëÀÚ¿¡ ÀÇÇØ ÁÖ¾îÁø ¸ñÇ¥¸¦ ¼ºÃëÇϱâ À§ÇØ °èȹÀ» ¸¸µé°í ¼öÇàÇÒ ¼ö ÀÖ´Ù. ±× ½Ã½ºÅÛÀº ¶ÇÇÑ °¡´ÉÇÑ ¹Ì·¡ÀÇ ¿ëµµ¸¦ À§Çؼ­ ÀÌ·¯ÇÑ °èȹµéÀ» ÀϹÝÈ­ÇÏ°í ÀúÀåÇØ µÎ¾ú´Ù.

Stanford's Cart and SRI's Shakey : ¾Æ·¡ ±×¸²ÀÇ "Stanford Cart" ¿Í SRI ÀÇ "Shakey" ´Â ÄÄÇ»ÅÍ¿¡ ÀÇÇØ Á¦¾îµÇ´Â ÃÖÃÊÀÇ mobile robot ÀÌ´Ù (Å« mainframe ÀÌ ÃÊ´ç 25 ¸¸ÀÇ °è»êÀ» ¼öÇàÇÏ°í, radio ¿¡ ÀÇÇØ ·Îº¿¿¡ ¸µÅ©µÈ´Ù). µÑ´Ù TC camera °¡ ½Ã°¢ ¿ªÇÒÀ» ÇÑ´Ù. Cart ´Â Èò»ö ¶óÀÎÀ» µû¶ó¼­ °ÅÀÇ È®½ÇÇÏ°Ô µû¶ó°£´Ù. Shakey ´Â È®½ÇÇÏÁö´Â ¾ÊÁö¸¸ Å©°í ´Ù¾çÇÑ (prismatic) ¹°Ã¼µéÀ» ãÀ» ¼ö ÀÖ´Ù. ±×°ÍµéÀÇ Á¦¾îÀÇ º¹ÀâÇÔÀº Elsie ¿¡¼­³ª Beast ¿¡¼­ º¸´Ùµµ ÈξÀ ´õ Å©´Ù (lines can be tracked using simple Elsie-like techniques with ground-mounted lights and photocells, but it takes complex adaptation and prediction to do it with ambient light from a high vantage point), ±×¸®°í ·Îº¿À» Á¦¾îÇϱâ À§ÇÑ ÄÄÇ»ÅÍÀÇ »ç¿ëÀº įºê¸®¾Æ±â (Cambrian explosion) ¿¡ ½Å°æ°è¸¦ °¡Áø ´Ù¼¼Æ÷ µ¿¹°ÀÇ ÃâÇö°ú ºñ±³µÉ ¼ö ÀÖ´Ù ; µÑ´Ù °¢ÀÚÀÇ ¿µ¿ª¿¡¼­ ÇൿÀÌ º¹ÀâÇÑ °æ¿ì¿¡´Â ¾î¿ÁÙÀ» ¸ð¸¥´Ù (blew the lid).

Shakey

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