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Shakey the robot
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<h2 id="history">History</h2> <p>Shakey was developed from approximately 1966 through 1972 with <a href="/facts/Charles_Rosen_(scientist)/p826bqFN">Charles Rosen</a>, <a href="/facts/Nils_Nilsson_(researcher)/5dGvCFC7">Nils Nilsson</a> and <a href="/facts/Peter_E._Hart/pKSPzx0Q">Peter Hart</a> as project managers. Other major contributors included Alfred Brain, Sven Wahlstrom, <a href="/facts/Bertram_Raphael/jBKCpD5T">Bertram Raphael</a>,<a class="footnote-ref" id="fnref:1" href="#fn:1"><sup>1</sup></a> <a href="/facts/Richard_O._Duda/d7nAjctd">Richard Duda</a>, <a href="/facts/Richard_Fikes/kWJCncnV">Richard Fikes</a>, Thomas Garvey, <a href="/facts/Helen_Chan_Wolf/qlMVvFNv">Helen Chan Wolf</a> and Michael Wilber. The project was funded by the <a href="/facts/DARPA/Uf9sarhT">Defense Advanced Research Projects Agency</a> (DARPA) based on a SRI proposal submitted in April 1964 for research in "Intelligent Automata",<a class="footnote-ref" id="fnref:2" href="#fn:2"><sup>2</sup></a><a class="footnote-ref" id="fnref:3" href="#fn:3"><sup>3</sup></a><a class="footnote-ref" id="fnref:4" href="#fn:4"><sup>4</sup></a> later "Intelligent Automata to Reconnaissance".<a class="footnote-ref" id="fnref:5" href="#fn:5"><sup>5</sup></a><a class="footnote-ref" id="fnref:6" href="#fn:6"><sup>6</sup></a> </p><p>It was originally designed to have two retractable arms.<a class="footnote-ref" id="fnref:7" href="#fn:7"><sup>7</sup></a> </p><p>Now retired from active duty, Shakey is currently on view in a glass display case at the <a href="/facts/Computer_History_Museum/Y9Q5XevR">Computer History Museum</a> in <a href="/facts/Mountain_View%2c_California/dm29hKlV">Mountain View, California</a>.<a class="footnote-ref" id="fnref:8" href="#fn:8"><sup>8</sup></a> The project inspired numerous other robotics projects, most notably the <a href="/facts/Centibots/txcTyDx3">Centibots</a>. </p> <h2 id="software">Software</h2> <p class="note">Main article: <a href="/facts/Stanford_Research_Institute_Problem_Solver/jRBHW0T2">Stanford Research Institute Problem Solver</a></p> <p>The robot's programming was primarily done in <a href="/facts/Lisp_(programming_language)/xJHA3CrX">LISP</a>. The <a href="/facts/Stanford_Research_Institute_Problem_Solver/jRBHW0T2">Stanford Research Institute Problem Solver</a> (STRIPS) planner it used was conceived as the main planning component for the software it utilized. As the first robot that was a logical, goal-based agent, Shakey experienced a limited world. A version of Shakey's world could contain a number of rooms connected by corridors, with doors and light switches available for the robot to interact with.<a class="footnote-ref" id="fnref:9" href="#fn:9"><sup>9</sup></a> </p><p>Shakey had a short list of available actions within its planner. These actions involved traveling from one location to another, turning the light switches on and off, opening and closing the doors, climbing up and down from rigid objects, and pushing movable objects around.<a class="footnote-ref" id="fnref:10" href="#fn:10"><sup>10</sup></a> The STRIPS automated planner could devise a plan to enact all the available actions, even though Shakey himself did not have the capability to execute all the actions within the plan personally. </p><p>An example mission for Shakey might be something like, an operator types the command "push the block off the platform" at a computer console. Shakey looks around, identifies a platform with a block on it, and locates a ramp in order to reach the platform. Shakey then pushes the ramp over to the platform, rolls up the ramp onto the platform, and pushes the block off the platform. </p> <h2 id="hardware">Hardware</h2> <p>Physically, the robot was particularly tall, and had an antenna for a radio link, <a href="/facts/Sonar/0Rg2G40e">sonar</a> range finders, a television camera, on-board processors, and collision detection sensors ("bump detectors").<a class="footnote-ref" id="fnref:11" href="#fn:11"><sup>11</sup></a> The robot's tall stature and tendency to shake resulted in its name: </p> <blockquote><p>We worked for a month trying to find a good name for it, ranging from Greek names to whatnot, and then one of us said, 'Hey, it shakes like hell and moves around, let’s just call it Shakey.'</p>— <a href="/facts/Charles_Rosen_(scientist)/p826bqFN">Charles Rosen</a><a class="footnote-ref" id="fnref:12" href="#fn:12"><sup>12</sup></a></blockquote> <h2 id="research-results">Research results</h2> <p>The development of Shakey provided far-reaching impact on the fields of robotics and artificial intelligence, as well as computer science in general. Some of the more notable results include the development of the <a href="/facts/A*_search_algorithm/BXFmt6hz">A* search algorithm</a>, which is widely used in <a href="/facts/Pathfinding/x9Ho1cvp">pathfinding</a> and <a href="/facts/Graph_traversal/vFjrnHxr">graph traversal</a>, the process of plotting an efficiently traversable path between points; the <a href="/facts/Hough_transform/cYmx4Duw">Hough transform</a>, which is a feature extraction technique used in <a href="/facts/Image_analysis/woLB8cX7">image analysis</a>, <a href="/facts/Computer_vision/Tl2Yyk66">computer vision</a>, and <a href="/facts/Digital_image_processing/zenalNCf">digital image processing</a>; and the <a href="/facts/Visibility_graph/kEaHTj2A">visibility graph</a> method for finding <a href="/facts/Euclidean_shortest_path/eAKJgenE">Euclidean shortest paths</a> among obstacles in the plane.<a class="footnote-ref" id="fnref:13" href="#fn:13"><sup>13</sup></a> </p> <h2 id="media-and-awards">Media and awards</h2> <p>In 1969 the SRI published "SHAKEY: Experimentation in Robot Learning and Planning",<a class="footnote-ref" id="fnref:14" href="#fn:14"><sup>14</sup></a> a 24-minute video. The project then received media attention.<a class="footnote-ref" id="fnref:15" href="#fn:15"><sup>15</sup></a> This included an article in the <i><a href="/facts/New_York_Times/T9marWVX">New York Times</a></i> on April 10, 1969. In 1970, <i><a href="/facts/Life_(magazine)/t3r71BEK">Life</a></i> referred to Shakey as the "first electronic person";<a class="footnote-ref" id="fnref:16" href="#fn:16"><sup>16</sup></a> and in November 1970 <i><a href="/facts/National_Geographic_Magazine/vnuhsmYg">National Geographic Magazine</a></i> covered Shakey and the future of computers.<a class="footnote-ref" id="fnref:17" href="#fn:17"><sup>17</sup></a> The <a href="/facts/Association_for_the_Advancement_of_Artificial_Intelligence/BjScke2s">Association for the Advancement of Artificial Intelligence</a>'s AI Video Competition's awards are named "Shakeys" because of the significant impact of the 1969 video.<a class="footnote-ref" id="fnref:18" href="#fn:18"><sup>18</sup></a> </p><p>Shakey was inducted into <a href="/facts/Carnegie_Mellon_University/XKd7L2KA">Carnegie Mellon University</a>'s <a href="/facts/Robot_Hall_of_Fame/fBWjUqlE">Robot Hall of Fame</a> in 2004 alongside such notables as <a href="/facts/ASIMO/dTGmS9jf">ASIMO</a> and <a href="/facts/C-3PO/IJ9VUQCG">C-3PO</a>.<a class="footnote-ref" id="fnref:19" href="#fn:19"><sup>19</sup></a><a class="footnote-ref" id="fnref:20" href="#fn:20"><sup>20</sup></a><a class="footnote-ref" id="fnref:21" href="#fn:21"><sup>21</sup></a> </p><p>Shakey has been honored with an <a href="/facts/List_of_IEEE_milestones/AGELIPBq">IEEE Milestone</a> in Electrical Engineering and Computing.<a class="footnote-ref" id="fnref:22" href="#fn:22"><sup>22</sup></a><a class="footnote-ref" id="fnref:23" href="#fn:23"><sup>23</sup></a> </p><p>Shakey was showcased in the BBC's <i>Towards Tomorrow: Robot</i> (1967) documentary. </p> <h2 id="further-reading">Further reading</h2> <ul><li><a href="/facts/Bertram_Raphael/jBKCpD5T">Raphael, Bertram</a> (1976). <i>The Thinking Computer: Mind Inside Matter</i>.</li> <li><a href="/facts/Nils_John_Nilsson/5dGvCFC7">Nilsson, Nils J.</a>; SRI International; SRI International, eds. (1984). <a href="https://ieeemilestones.ethw.org/w/images/a/a1/Ref-01_AICTechNote323.pdf"><i>Shakey the robot, Technical note 323</i></a> (PDF). Technical note. Menlo Park, CA: SRI International.{{cite book}}: CS1 maint: date and year (link)</li> <li><a href="/facts/Stuart_J._Russell/f6EbRvSV">Russell, Stuart J</a>; <a href="/facts/Peter_Norvig/GkCUHH4H">Norvig, Peter</a> (2010). <i>Artificial Intelligence: A Modern Approach</i> (3rd ed.). Upper Saddle River, New Jersey: Prentice Hall. <a href="/facts/ISBN_(identifier)/15AdSPa9">ISBN</a> 978-0-13-604259-4.</li> <li>Kuipers, Benjamin; Feigenbaum, Edward A.; Hart, Peter E.; Nilsson, Nils J. (2017). <a href="https://doi.org/10.1609%2Faimag.v38i1.2716">"Shakey: From Conception to History"</a>. <i>AI Magazine</i>. 38 (1). Wiley: 88–103. <a href="/facts/Doi_(identifier)/muM9Etpq">doi</a>:<a href="https://doi.org/10.1609%2Faimag.v38i1.2716">10.1609/aimag.v38i1.2716</a>. <a href="/facts/ISSN_(identifier)/DPAflDvU">ISSN</a> <a href="https://search.worldcat.org/issn/0738-4602">0738-4602</a>.</li></ul> <ul><li><a href="https://cyberneticzoo.com/cyberneticanimals/1967-shakey-charles-rosen-nils-nilsson-bertram-raphael-et-al-american/">"1967 – "Shakey" – Charles Rosen, Nils Nilsson, Bertram Raphael et al (American)"</a>. <i>cyberneticzoo.com</i>. January 5, 2010. Retrieved October 10, 2024.</li></ul> <ul><li><a href="https://ethw.org/Milestones%3ASHAKEY%3A_The_World%E2%80%99s_First_Mobile_Intelligent_Robot%2C_1972">"Milestones:SHAKEY: The World's First Mobile Intelligent Robot, 1972"</a>. <i>ETHW</i>. February 12, 2024. Retrieved October 10, 2024.</li></ul> <h2 id="external-links">External links</h2> <ul><li><a href="http://www.sri.com/work/timeline-innovation/timeline.php?timeline=computing-digital#!&innovation=shakey-the-robot">SRI page on Shakey</a> <a href="https://web.archive.org/web/20130702202304/http://www.sri.com/work/timeline-innovation/timeline.php?timeline=computing-digital#!&innovation=shakey-the-robot">Archived</a> 2013-07-02 at the <a href="/facts/Wayback_Machine/nmQ3a6JC">Wayback Machine</a></li> <li><a href="https://www.youtube.com/watch?v=qXdn6ynwpiI">SRI educational film demonstrating Shakey</a></li> <li><a href="https://books.google.com/books?id=2FMEAAAAMBAJ&pg=PA56-IA4">LIFE Magazine article (Nov. 20, 1970)</a></li> <li><a href="https://www.youtube.com/watch?v=ddWv_0fQ5ao">Peter Hart talk covering the history and legacy of the project at the Computer History Museum where Shakey is displayed (2015)</a></li></ul> <h2 id="references">References</h2> <ol> <li id="fn:1"><p>"Oral History: Bertram Raphael". IEEE Global History Network. Institute of Electrical and Electronics Engineers. Retrieved 2012-10-08. <a href="http://www.ieeeghn.org/wiki/index.php/Oral-History:Bertram_Raphael" target="_blank">http://www.ieeeghn.org/wiki/index.php/Oral-History:Bertram_Raphael</a> <a href="#fnref:1" class="footnote-back-ref">↩</a></p></li> <li id="fn:2"><p>Press, Gil. "12 AI Milestones: 1. Shakey The Robot". Forbes. Retrieved 2024-05-25. <a href="https://www.forbes.com/sites/gilpress/2020/01/20/12-ai-milestones-shakey-the-robot/" target="_blank">https://www.forbes.com/sites/gilpress/2020/01/20/12-ai-milestones-shakey-the-robot/</a> <a href="#fnref:2" class="footnote-back-ref">↩</a></p></li> <li id="fn:3"><p>"Shakey the Robot". darpa.mil. Retrieved May 25, 2024. <a href="https://www.darpa.mil/about-us/timeline/shakey-the-robot" target="_blank">https://www.darpa.mil/about-us/timeline/shakey-the-robot</a> <a href="#fnref:3" class="footnote-back-ref">↩</a></p></li> <li id="fn:4"><p>Nilsson, Nils J. "Research in Intelligent Automata (Phase 1)." (1964). <a href="https://apps.dtic.mil/sti/tr/pdf/AD1018343.pdf" target="_blank">https://apps.dtic.mil/sti/tr/pdf/AD1018343.pdf</a> <a href="#fnref:4" class="footnote-back-ref">↩</a></p></li> <li id="fn:5"><p>"APPLICATION OF INTELLIGENT AUTOMATA TO RECONNAISSANCE." Green, M.; Wahlstrom, S.; Forsen, G. Interim rept. Mar-Nov 1966, <a href="https://apps.dtic.mil/sti/citations/AD0817189" target="_blank">https://apps.dtic.mil/sti/citations/AD0817189</a> <a href="#fnref:5" class="footnote-back-ref">↩</a></p></li> <li id="fn:6"><p>Nilsson, N. J., Rosen, C. A., Raphael, B., Forsen, G., Chaitin, L. and Wahlstrom, S. "Application of Intelligent Automata to Reconnaissance, Technical Report". Stanford Research Institute, December 1968. Project 5953 - Final Report. <a href="https://web.archive.org/web/20060316081339/http://www.ai.sri.com/pubs/files/nilsson68-p5953-final.pdf" target="_blank">https://web.archive.org/web/20060316081339/http://www.ai.sri.com/pubs/files/nilsson68-p5953-final.pdf</a> <a href="#fnref:6" class="footnote-back-ref">↩</a></p></li> <li id="fn:7"><p>https://www.computerhistory.org/revolution/artificial-intelligence-robotics/13/289/1239 <a href="https://www.computerhistory.org/revolution/artificial-intelligence-robotics/13/289/1239" target="_blank">https://www.computerhistory.org/revolution/artificial-intelligence-robotics/13/289/1239</a> <a href="#fnref:7" class="footnote-back-ref">↩</a></p></li> <li id="fn:8"><p>"Shakey". SRI International Artificial Intelligence Center. Retrieved 2012-10-07. <a href="http://www.ai.sri.com/shakey/" target="_blank">http://www.ai.sri.com/shakey/</a> <a href="#fnref:8" class="footnote-back-ref">↩</a></p></li> <li id="fn:9"><p>"Shakey the Robot". SRI International. Archived from the original on 2013-05-04. Retrieved 2012-10-07. <a href="https://web.archive.org/web/20130504120711/http://www.sri.com/work/timeline/shakey-robot" target="_blank">https://web.archive.org/web/20130504120711/http://www.sri.com/work/timeline/shakey-robot</a> <a href="#fnref:9" class="footnote-back-ref">↩</a></p></li> <li id="fn:10"><p>Moravec, Hans (1998). "Caution! Robot Vehicle!". ROBOT: Mere Machine to Transcendent Mind. p. 27. <a href="/wiki/Hans_Moravec" target="_blank">/wiki/Hans_Moravec</a> <a href="#fnref:10" class="footnote-back-ref">↩</a></p></li> <li id="fn:11"><p>"Shakey". Exhibition: Artificial Intelligence & Robotics. Computer History Museum. Retrieved 2012-10-07. <a href="http://www.computerhistory.org/revolution/artificial-intelligence-robotics/13/289" target="_blank">http://www.computerhistory.org/revolution/artificial-intelligence-robotics/13/289</a> <a href="#fnref:11" class="footnote-back-ref">↩</a></p></li> <li id="fn:12"><p>"Shakey". Exhibition: Artificial Intelligence & Robotics. Computer History Museum. Retrieved 2012-10-07. <a href="http://www.computerhistory.org/revolution/artificial-intelligence-robotics/13/289" target="_blank">http://www.computerhistory.org/revolution/artificial-intelligence-robotics/13/289</a> <a href="#fnref:12" class="footnote-back-ref">↩</a></p></li> <li id="fn:13"><p>Lozano-Pérez, Tomás; Wesley, Michael A. (1979), "An algorithm for planning collision-free paths among polyhedral obstacles", Communications of the ACM, 22 (10): 560–570, doi:10.1145/359156.359164 <a href="/wiki/Doi_(identifier)" target="_blank">/wiki/Doi_(identifier)</a> <a href="#fnref:13" class="footnote-back-ref">↩</a></p></li> <li id="fn:14"><p>"Shakey Video (320x212 - 24 min - RealVideo - 91.7 MB)". SRI International. Retrieved 2012-10-07. <a href="http://www.ai.sri.com/movies/Shakey.ram" target="_blank">http://www.ai.sri.com/movies/Shakey.ram</a> <a href="#fnref:14" class="footnote-back-ref">↩</a></p></li> <li id="fn:15"><p>"Shakey". SRI International Artificial Intelligence Center. Retrieved 2012-10-07. <a href="http://www.ai.sri.com/shakey/" target="_blank">http://www.ai.sri.com/shakey/</a> <a href="#fnref:15" class="footnote-back-ref">↩</a></p></li> <li id="fn:16"><p>Meet Shakey, The First Electronic Person by Brad Darrach, LIFE, November 20, 1970. <a href="https://gwern.net/doc/reinforcement-learning/robot/1970-darrach.pdf" target="_blank">https://gwern.net/doc/reinforcement-learning/robot/1970-darrach.pdf</a> <a href="#fnref:16" class="footnote-back-ref">↩</a></p></li> <li id="fn:17"><p>"Shakey". SRI International Artificial Intelligence Center. Retrieved 2012-10-07. <a href="http://www.ai.sri.com/shakey/" target="_blank">http://www.ai.sri.com/shakey/</a> <a href="#fnref:17" class="footnote-back-ref">↩</a></p></li> <li id="fn:18"><p>"AAAI Video Competition 2012". Association for the Advancement of Artificial Intelligence. Retrieved 2012-10-07.[failed verification] <a href="http://www.aivideo.org/" target="_blank">http://www.aivideo.org/</a> <a href="#fnref:18" class="footnote-back-ref">↩</a></p></li> <li id="fn:19"><p>"Shakey". Robot Hall of Fame 2004 Inductees. Carnegie Mellon University. Retrieved 2012-10-07. <a href="http://www.robothalloffame.org/inductees/04inductees/shakey.html" target="_blank">http://www.robothalloffame.org/inductees/04inductees/shakey.html</a> <a href="#fnref:19" class="footnote-back-ref">↩</a></p></li> <li id="fn:20"><p>Hanlon, Mike (21 January 2004). "More inductees into the Robot Hall of Fame". Gizmag. Retrieved 2012-10-07. <a href="http://www.gizmag.com/go/3170/" target="_blank">http://www.gizmag.com/go/3170/</a> <a href="#fnref:20" class="footnote-back-ref">↩</a></p></li> <li id="fn:21"><p>"Carnegie Mellon Inducts Second Class into Robot Hall of Fame". Carnegie Mellon University. 2004-10-11. Retrieved 2012-10-07. <a href="http://www.cmu.edu/cmnews/extra/041011_rhof.html" target="_blank">http://www.cmu.edu/cmnews/extra/041011_rhof.html</a> <a href="#fnref:21" class="footnote-back-ref">↩</a></p></li> <li id="fn:22"><p>"SRI International's Shakey the Robot to be Honored with "IEEE Milestone" at the Computer History Museum". Retrieved 2017-02-17. <a href="https://www.sri.com/newsroom/press-releases/sri-internationals-shakey-robot-be-honored-ieee-milestone-computer-history" target="_blank">https://www.sri.com/newsroom/press-releases/sri-internationals-shakey-robot-be-honored-ieee-milestone-computer-history</a> <a href="#fnref:22" class="footnote-back-ref">↩</a></p></li> <li id="fn:23"><p>Perry, Tekla (17 February 2017). "SRI's Pioneering Mobile Robot Shakey Honored as IEEE Milestone". IEEE Spectrum. Archived from the original on February 20, 2017. Retrieved 18 February 2017. <a href="https://web.archive.org/web/20170220175526/http://spectrum.ieee.org/view-from-the-valley/robotics/industrial-robots/sri-shakey-robot-honored-as-ieee-milestone" target="_blank">https://web.archive.org/web/20170220175526/http://spectrum.ieee.org/view-from-the-valley/robotics/industrial-robots/sri-shakey-robot-honored-as-ieee-milestone</a> <a href="#fnref:23" class="footnote-back-ref">↩</a></p></li> </ol>