Hack and Kluge

Pete Beim, Ian Horswill, Ivan Yen

Hack and Kluge are high performance, low cost vision-based robots developed at Northwestern University. Hack and Kluge have a number of interesting features: They use a novel architecture that supports problem solving, reasoning, and instruction following, without a cen- tralized world model; All inferences are grounded in perception and updated at 5-10Hz; Nearly all sensing is performed using real-time vision; All computation is performed on-board; They use very low cost hardware (equivalent systems could be built for under $10,000)

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