Shakey the Robot

Shakey was the first autonomous vehicle. It could:

• Sense it's surroundings
• Build an internal model of it's world
• Accept simple english commands for actions with layers of complexity
• Reason about actions which could accomplish the goal
• Remember plans which succeeded and re-use them in future tasks

The long list of methods and technologies which were developed during this project have long reaching effects, and are still used in many areas of automation to this day.

• A* searches
• The Hough transform
• The visibility graph method
• STRIPS

See also:

• https://photos.app.goo.gl/yzn4bnYCW4ReXXkZ6 Photos of Shakey from the Computer History Museum 2023+
• http://ai.stanford.edu/~nilsson/OnlinePubs-Nils/shakey-the-robot.pdf A detailed overview+
• https://apps.dtic.mil/sti/pdfs/ADA638144.pdf The Scene Analysis Using Regions paper.
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• https://ieeemilestones.ethw.org/w/images/8/83/Ref-09_AStar.pdf The A-Star paper+
• https://www.cse.unr.edu/~bebis/CS474/Handouts/HoughTransformPaper.pdf The Hough Transformation paper
  An in browser demo of the Hough Transform https://docs.opencv.org/4.x/d3/de6/tutorial_js_houghlines.html+

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• http://ai.stanford.edu/users/nilsson/OnlinePubs-Nils/PublishedPapers/strips.pdf The STRIPS paper. James Newton of MassMind replies: https://ieeemilestones.ethw.org/w/images/5/53/Ref-05_STRIPS.pdf+

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• https://dl.acm.org/doi/pdf/10.1145/359156.359164 The Visibility Graph Method paper.+
• https://github.com/speckdavid/shakey2016 An re-implementation of some of the functions that Shakey had in modern (2016) code base on a PR2 research robot. The vision and planning systems have been greatly updated, but there is no natural language interface. The problem solving system does not learn, and has some limitations.+
• https://www.youtube.com/watch?v=GmU7SimFkpU A demo video showing the real Shakey recognizing and modeling the environment, responding to unexpected issues, solving problems, and executing complex solutions.+
• https://ethw.org/Milestones:SHAKEY:_The_World%E2%80%99s_First_Mobile_Intelligent_Robot,_1972 +
• https://www.sri.com/hoi/shakey-the-robot/ Shakey was developed at SRI (Stanford Research Institute) from 1966 to 1972+
• https://www.computerhistory.org/revolution/artificial-intelligence-robotics/13/289 Shakey is on display at the Computer History Museum+
• http://www.ai.sri.com/pubs/files/629.pdf Shakey the Robot: Tech note 323+

The Shakey team:

• Charles Rosen,
• Bertram Raphael,
• Dick Duda,
• Milt Adams,
• Gerald Gleason,
• Peter Hart,
• Jim Baer
• Richard Fikes,
• Helen (Chan) Wolf,
• Ted Brain

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