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Introduction to
Robotics
1
Outline
• What is a Robot?
• What Can Robots Do?
• History
• Key components
• Applications
• Future
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What is a Robot: I
Manipulator
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What is a Robot: II
Legged Robot Wheeled Robot
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What is a Robot: III
Autonomous Underwater Vehicle Unmanned Aerial Vehicle
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What Can Robots Do?
Industrial Robots
•Material handling
•Material transfer
•Machine loading and/or
unloading Material Handling Manipulator
•Spot welding
•Continuous arc welding
•Spray coating
•Assembly
•Inspection Assembly Manipulator
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Spot Welding Manipulator
What Can Robots Do: I
Jobs that are dangerous
for humans
Decontaminating Robot
Cleaning the main circulating pump
housing in the nuclear power plant
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What Can Robots Do: II
Repetitive jobs that are
boring, stressful, or labor-
intensive for humans
Welding Robot
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What Can Robots Do: III
Menial tasks that human
don’t want to do
The SCRUBMATE Robot
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Robots in Space
NASA Space Station
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Robots in Hazardous Environments
TROV in Antarctica HAZBOT operating in
operating under water atmospheres containing
combustible gases 11
Medical Robots
Robotic assistant for
micro surgery
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Robots at Home
Sony SDR-3X Entertainment Robot Sony Aibo
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Robotics —I
Remote Robot Arm Manipulation
Smart Irrigation System
Smart Cane
Remote Emergency
Notification System 14
Robotics —II
Type-X
RoboDry
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Local Navigation System Safe N Sound Driver
Robotics —III
Four Legged Hexapod
Metal Mine Surveyor
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Audio Enabled Hexapod
RoboVac
Robot Defined
• Word robot was coined by a
Czech novelist Karel Capek in a
1920 play titled Rossum’s
Universal Robots (RUR)
• Robota in Czech is a word for
worker or servant Karel Capek
Definition of robot:
–Any machine made by by one our members: Robot Institute
of America
–A robot is a reprogrammable, multifunctional manipulator
designed to move material, parts, tools or specialized devices
through variable programmed motions for the performance of
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a variety of tasks: Robot Institute of America, 1979
Laws of Robotics
• Asimov proposed three “Laws
of Robotics”
• Law 1: A robot may not injure
a human being or through
inaction, allow a human being
to come to harm
• Law 2: A robot must obey
orders given to it by human
beings, except where such
orders would conflict with a
higher order law
• Law 3: A robot must protect its
own existence as long as such
protection does not conflict
with a higher order law
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History of Robotics: I
• The first industrial
robot: UNIMATE
• 1954: The first programmable
robot is designed by George
Devol, who coins the term
Universal Automation. He later
shortens this to Unimation, which
becomes the name of the first
robot company (1962).
UNIMATE originally automated the
manufacture of TV picture tubes
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History of Robotics: II
1978: The Puma (Programmable
Universal Machine for
Assembly) robot is developed
by Unimation with a General
Motors design support
PUMA 560 Manipulator
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History of Robotics: III
1980s: The robot industry enters a phase of rapid growth. Many
institutions introduce programs and courses in robotics. Robotics
courses are spread across mechanical engineering, electrical
engineering, and computer science departments.
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Adept's SCARA robots Cognex In-Sight Robot Barrett Technology Manipulator
History of Robotics: IV
1995-present: Emerging
applications in small
robotics and mobile
robots drive a second
growth of start-up
companies and research
2003: NASA’s Mars Exploration Rovers will launch toward
Mars in search of answers about the history of water on Mars 22
Knowledgebase for Robotics
•Typical knowledgebase for the design and operation of robotics
systems
–Dynamic system modeling and analysis
–Feedback control
–Sensors and signal conditioning
–Actuators and power electronics
–Hardware/computer interfacing
–Computer programming
Disciplines: mathematics, physics, biology,
mechanical engineering, electrical engineering,
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computer engineering, and computer science
Key Components
Power conversion
unit
Sensors Actuators
Controller
User interface
Manipulator
linkage
Base 24
Robot Base: Fixed v/s Mobile
Robotic manipulators used in Mobile bases are typically
manufacturing are examples of platforms with wheels or tracks
fixed robots. They can not attached. Instead of wheels or
move their base away from the tracks, some robots employ
work being done. legs in order to move about.
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Robot Mechanism: Mechanical Elements
Gear, rack, pinion, etc.
Cam and Follower
Inclined plane wedge Chain and sprocket
Lever
Slider-Crank
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Linkage
Sensors
Accelerometer
Using Piezoelectric Effect
Flexiforce Sensor
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In-Sight Vision Sensors
Sensors 2
Tilt sensors: e.g., to balance a robot
Example
Tilt Sensor
Planar Bipedal Robot
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Actuators
Pneumatic Cylinder
Hydraulic Motor Stepper Motor
Pneumatic Motor DC Motor 29
Servo Motor
Controller Hardware: I
Provide necessary intelligence to control the manipulator/mobile robot.
Process the sensory information and compute the control commands for the
actuators to carry out specified tasks.
Storage devices: e.g., memory to store the control program and the state of the
robot system obtained from the sensors.
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RoboBoard Robotics Controller BASIC Stamp 2 Module
Controller Hardware: III
Interface units: Hardware to interface digital
controller with the external world (sensors and actuators)
Analog to Digital Converter Operational Amplifiers
LM358 LM358
LM1458 dual operational amplifier 31
Future of Robots: I
Artificial Intelligence
Cog Kismet 32
Future of Robots: II
Autonomy
Robot Work Crews Garbage Collection Cart
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Future of Robots: III
Humanoids
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HONDA Humanoid Robot
Robot Platforms
• Wheelchairs
– Appropriate user
interface/locus of
control
• Interactive with
humans
– Kismet, emotions,
“teaming”
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Robot Applications
• Education
– Lego Mindstorms
• MIT Media Lab (Mitch
Resnick)/6.270 course MIT Media Lab from www.media.mit.edu/information
(Fred Martin)
– K’nex
– marketed for boys,
working alone, despite
efforts of MIT Media
Lab K’nex, Mindstomrs from www.etoyr.com
• “robots, dinosaurs,
space” and “smash up”
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Entertainment
•Pets
•Sony dogs: Aibo
•Cheaper knockoffs
•Hugo deGare’s cat (for elderly)
Poor reception; NYT article on why kids
don’t play with them after a few days
•iRobot My Real Baby
www.sony.com
Software was easy, cheap sensing
(~$0.01 a piece) was hard
•Animatronics
•Disney animation
•Robots for special effects
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www.irobot.com
Consumer Applications
• Consumer/business
applications
– Service sector
• So boring people don’t even
come back to pick up
paychecks www.friendlymachines.com
• Hospital orderly
– Helpmate (bankrupt)
• Janitorial
• Lawn maintenance
– Home
• Security bots
– iRobot, Probotics
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www.irobot.com
Military, Law Enforcement Apps
• Army: Future Combat Systems by 2012
– Lightweight, rapid deployment== no people
– Vehicles are heavy because of armor, comfort for
people
• Air Force
– Unmanned Combat Aerial Vehicle
– High altitude endurance UAVs
• Bots are lethal, but must have human permission to fire,
even in “survival” situations
– Remember Darkspot?
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Summary
• Probably the biggest success of AI robotics has been
software agency for the web, appliances, and animation
• The biggest potential market for AI robotics is
entertainment
– Reactive behaviors is sufficient
• The biggest issues are better platforms and how to
incorporate learning
• Human Robot Interface is becoming critical; neglected part
of the “system” or application
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