Robot Compiler

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Robot CompilerRobot Compiler

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Motivation

The Robot Compiler allows non-engineering users to rapidly fabricate customized robots, facilitating the proliferation of robots in everyday life. It thereby marks an important step towards the realization of personal robots that have captured imaginations for decades.

Personalized on-demand robots have a vast potential to impact daily life and change how people interact with technology, but so far this potential has remained largely untapped. Building robots is typically restricted to experts due to the extensive knowledge, experience, and resources required. The Robot Compiler aims to remove these barriers with an end-to-end system for intuitively designing robots from high-level specifications. By describing an envisioned structure or behavior, casual users can immediately build and use a robot for their task.

This system encourages users to treat robots for physical tasks as they would treat software for computational tasks. By simplifying the design process and fostering an iterative approach, it moves towards the proliferation of on-demand custom robots that can address applications including education, healthcare, disaster aid, and everyday life.


Design Flow

Users can intuitively compose modular components from an integrated library into complex electromechanical devices. The system provides design feedback, performs verification, makes any required modifications, and then co-designs the underlying subsystems to generate wiring instructions, mechanical drawings, microcontroller code for autonomous behavior, and user interface software. The current work features printable origami-inspired foldable robots as well as general electromechanical devices, and is extensible to many fabrication techniques. Building upon this foundation, tools are provided that allow users to describe functionality rather than structure, simulate robot systems, and explore design spaces to achieve behavioral guarantees.


Example Robots

Crawling Ant

Ant Input Ant Auto-Design
  • Automatically added Arduino, battery, Bluetooth serial module, and Bluetooth data buffers
  • Automatically chose microcontroller pins and connected various electrical/data ports
  • Automatically set component and port parameters
Generated Design Output
Ant Output Ant Code Output

Arm with Gripper and LEDs

Arm Input Arm Auto-Design
  • Automatically added Arduino, battery, Bluetooth serial module, and Bluetooth data buffers
  • Automatically chose microcontroller pins and connected various electrical/data ports
  • Automatically set component and port parameters
Generated Design Output
Arm Output Arm Code Output


Wheeled Driver with LEDs and Buzzer

Driver Input Driver Auto-Design
  • Automatically added Arduino, battery, Bluetooth serial module, and Bluetooth data buffers
  • Automatically chose microcontroller pins and connected various electrical/data ports
  • Automatically set component and port parameters
Generated Design Output
Driver Output Driver Code Output

Wheeled Paper Seg with LEDs

Seg Input Seg Auto-Design
  • Automatically added Arduino, battery, Bluetooth serial module, and Bluetooth data buffers
  • Automatically chose microcontroller pins and connected various electrical/data ports
  • Automatically set component and port parameters
Generated Design Output
Seg Output Seg Code Output

Line-Following Seg: Autonomous Behavior via Robot Compiler

Line-Follower Input Line-Follower Auto-Design
  • Automatically added Arduino, battery, Bluetooth serial module, and Bluetooth data buffers
  • Automatically chose microcontroller pins and connected various electrical/data ports
  • Automatically set component and port parameters
  • Automatically generate data port mapping that implements line-following behavior
Generated Design Output
Line-Follower Output Line-Follower Code Output


Long Exposure of Line-Following Robots



Long Exposure of Line-Following Robots


Line-Following Seg: Autonomous Behavior via LTLMoP State Machine

Line-Follower Input Line-Follower Auto-Design
  • Automatically added Arduino, battery, Bluetooth serial module, and Bluetooth data buffers
  • Automatically chose microcontroller pins and connected various electrical/data ports
  • Automatically set component and port parameters
  • Automatically process and convert LTLMoP state machine that implements line-following behavior
Generated Design Output
Line-Follower Output Line-Follower Code Output

Wheeled Fetch Robot: Autonomous Behavior via LTLMoP State Machine

Fetcher Input Fetcher Auto-Design
  • Automatically added Arduino, battery, Bluetooth serial module, and Bluetooth data buffers
  • Automatically chose microcontroller pins and connected various electrical/data ports
  • Automatically set component and port parameters
  • Automatically process and convert LTLMoP state machine that implements line-following behavior
Generated Design Output
Fetcher Output Fetcher Code Output

Publications

A. M. Mehta, J. DelPreto, B. Shaya, D. Rus - Cogeneration of mechanical, electrical, and software designs for printable robots from structural specifications
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2892-2897, Sept 2014
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6942960
Bibtex
Author : A. M. Mehta, J. DelPreto, B. Shaya, D. Rus
Title : Cogeneration of mechanical, electrical, and software designs for printable robots from structural specifications
In : 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems -
Address :
Date : Sept 2014

Mehta, Ankur, DelPreto, Joseph, Rus, Daniela - Integrated codesign of printable robots
Journal of Mechanisms and Robotics 7(2):021015,2015
http://mechanismsrobotics.asmedigitalcollection.asme.org/article.aspx?articleid=2089576
Bibtex
Author : Mehta, Ankur, DelPreto, Joseph, Rus, Daniela
Title : Integrated codesign of printable robots
In : Journal of Mechanisms and Robotics -
Address :
Date : 2015

Ankur Mehta, Joseph DelPreto, Kai Weng Wong, Scott Hamill, Hadas Kress-Gazit, Daniela Rus - Robot Creation from Functional Specifications
The International Symposium on Robotics Research (ISRR) , Sestri Levante, Italy, Sep 2015
Bibtex
Author : Ankur Mehta, Joseph DelPreto, Kai Weng Wong, Scott Hamill, Hadas Kress-Gazit, Daniela Rus
Title : Robot Creation from Functional Specifications
In : The International Symposium on Robotics Research (ISRR) -
Address : Sestri Levante, Italy
Date : Sep 2015

DelPreto, Joseph, Mehta, Ankur, Rus, Daniela - Cogeneration of Electrical and Software Designs from Structural Specifications
Robot Makers Workshop, 2014 Robotics Science and Systems ,2014
http://www.seas.upenn.edu/~nicbezzo/RoMa2014/
Bibtex
Author : DelPreto, Joseph, Mehta, Ankur, Rus, Daniela
Title : Cogeneration of Electrical and Software Designs from Structural Specifications
In : Robot Makers Workshop, 2014 Robotics Science and Systems -
Address :
Date : 2014


People

Joseph DelPreto (delpreto at csail dot mit dot edu)

Ankur Methta (mehtank at csail dot mit dot edu)

Daniela Rus

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