Introduction to Robotics Class by ls723a4r


									Examples of
Robots from
Many Areas
What are robots
  good for?
• An experimental robot picks up a
  simulated pipe bomb during a
  demonstration for the media at
  Sandia National Laboratories in
  Albuquerque, N.M., Tuesday, July 3,
• New technology developed at Sandia
  National Laboratories is making
  bomb disposal easier and safer for
  police bomb squads.
• Phil Bennett, project leader at
  Sandia, says the arm joints of the
  new robot are more coordinated than
  the old-line robots.
• (AP Photo/Jake Schoellkopf)

• This undated photo from Carnegie Mellon Uniuversity shows the Nomad robot
  during its solo drive on an icy Antartic plain.
• The robot, a product of the university's Robotics Institute, began testing its wheels in
  January after it was taken by helicopter to a harsh region known as Elephant
  Moraine where it was left to inspect rocks and look for meteorites.
•    (AP Photo/Carnegie Mellon U.)
                 What are robots good for?
          •Gofer robots

Carnegie Mellon’s Nomad
•Dr. William
Franckle watches a
video monitor as he
assists in a gall
bladder operation
using a robotic
surgery machine
called da Vinci
Surgical System, left,
at Robert Wood
Johnson University
Hospital in New
Brunswick, N.J.,
Thursday, Feb. 8,

•    Franckle assited Dr. Andrew Boyarsky who was manipulating small robotic
    instruments, one is seen on monitor, while looking at a three-dimensional image of
    the patient's abdomen from a work station about 10 feet away from the patient. (AP
    Photo/Mike Derer)
19-20 -- An
Aerosonde aircraft is
seen from its launch
vehicle in this 2000
file photo taken in
Australia. Aerosonde
Ltd., an Australian
company, is seeking
permission to fly
pilotless robotic
planes into the 2001
hurricane storms.

•The Aerosonde launches from a car's roof rack and can carry a 4 1/2-pound payload of
high-tech measuring equipment. Maurice Gonella, Aerosonde's principal engineer, says
the $100,000 drones can be put on autopilot and will constantly relay information.
•They also take photographs as they go. (AP Photo/Aerosonde Robotic Aircraft)
• Scott Jantz, an engineering student at
  the University of Florida in
  Gainesville, Fla., watches a robot
  lawn mower Wednesday, Aug. 6,
  1997, that cuts grass by itself while
  avoiding obstacles such as trees, toys
  and even children and pets.
• Dubbed the LawnNibbler, the mower
  was designed and built by Kevin
  Hakala for his engineering master's
• The battery-powered mower,
  developed at UF's Machine
  Intelligence Laboratory, uses buried
  radio wires, sonar and infrared
  emitters and detectors to find its way
  without human assistance.
• (AP Photo/University of Florida)
              SANDIA ROBOTICS

Sandia National Laboratories researcher Tom Weber holds a tiny robot named MARV,
for Mobile Autonomous Wheeled Vehicle, on Oct. 28, 1996 in Albuquerque, N.M.

Weber says MARV is a learning tool to begin to understand the problems of building
inexpensive little robots for use in military applications.(AP Photo/Jake Schoellkopf)
Robots in the World


     Robots in the Real World
 •   Welding
                            A robot drills 550 holes in the
 •   Painting               vertical tail fins of an F-16
                            fighter in 3 hours in General
 •   Assembly               Dynamics. It used to take 24
 •   Laboratory             worker hours to do the job
 •   Manufacturers

By 1985, there were
180,000 robots on
production lines in the
world with the US, France
and Japan accounting for
80% of them
Industrial Manipulators

Puma 500
             RRC Dexterous Manipulator
Industrial Manipulators

                Adept One XL
Adept Six 300
Cartesian robot

•   Robot "T-Minus", right, built by Reason Bradley of Sausalito, Calif., flips opponent robot "Halo", built
    by Brian Scearce of Fremont, Calif., Thursday, May 24, 2001, during the preliminary elimination rounds
    of the Battlebots Robot Combat Championship on Treasure Island, in San Francisco.
•   Battlebots is the sport of remote controlled robotic combat, where a face-off of creations made by
    Hollywood special effects artists, rocket scientists, software designers, and garage tinkerers meet in the
    boxing arena.
•   The championships will run through the Memorial Day weekend, and end on Monday, May 28. (AP
    Photo/Ben Margot)
The Robot Revolution
• While a computer performs mental tasks, a
  is a computer-
  designed to
  do manual
Mobile Autonomous Robots

              CWRU Hexapod 1
Robots in Research

  • Mobile robots need brains
    – Navigation is difficult
    – And potentially dangerous
Service robots: Cleaning
Service robots: Building walls
Service robots : Gas station
      Pattern Recognition:
    Making Sense of the World
• Pattern recognition involves identifying
  recurring patterns in input data with the goal
  of understanding or categorizing that input
• Image Analysis:
  identifying objects
  and shapes
                                        What are the
                                        robots good
•Manufacturing and materials handling
             What are the
             robots good

•Gofer robots

 Bell & Howell Mailmobile
     What are robots good for?
•Hazardous environments

                            Moon Robot
    What are
   robots good
•Hazardous environments

Dante II Frame Walking Robot
                 What are robots good for?
             •Telepresence and virtual reality

The Wheelbarrow, a bomb disposal robot
                 What are robots good for?
    •Telepresence and virtual reality

Advanced Tethered Vehicle (ATV)
                 What are robots good for?
    •Telepresence and virtual reality

Advanced Robot and Telemanipulator System for Minimal Invasive Surgery
          What are robots good for?
 •Augmentation of human abilities

Sigourney Weaver in the movie Aliens
Daihen Almega GO1S
PCB 기판을 조립하는 Quad 로보트
Kuka Robotics KL1500
Automated Cells and Equipment 사의 RoboCell
Fanuc LR Mate 드릴 로보트
SONY사에서 개발한 장난감 개, Aibo
Yaskawa Help Mate
수중탐사용 로보트

 What are
robots made
 What are robots made of?
•Effectors: Tools for Action
•Sensors: Tools for perception
   •Force Sensing
   •Tactile Sensing
   •Camera Data
            What are robots made of?
   •Effectors: Locomotion

Carnegie Mellon’s Ambler
  What are
robots made


        MIT’s 3D Hopper
  What are
robots made

•Sensors: Proprioception

         MIT’s Spring Flamingo
What are robots made of?
                 •Sensors: Force

                   MIT’s Phantom
 What are
 made of?

•Sensors: Tactile

    MIT’s Planar Grasper
 What are robots
   made of?
•Sensors: Sonar

    ActivMedia’s Peoplebot
What are robots made of?
•Sensors: Camera Data

                  The Johns Hopkins Beast
What are robots made of?
        •Sensors: Camera Data

                          MIT’s Fast Eye
              Why Robotics?
• In view of the keen competition worldwide in
  automotive manufacturing technology, the role
  of robot is unavoidable with its current state of
  the art.
• With a pressing need for increased productivity
  and the delivery of the end products of uniform
  quality, industry is turning more and more
  toward computer-based machine tools for the
  “agile” assembly line
                Why Robotics?
• Modern computer architecture and sensors provide
  intelligence to the robot.
• “Intelligence connection from perception to action”
• The new message is: robots are going to come out of
  factory and enter our every day life.
• In Japan, ~70,000 robots are installed every year.
• Companies there are taking full advantage of the
  productive power of robotics.
• It is not an accident that Japan is such a strong
  competition in so many manufacturing industries
• Their companies are willing to make long-term
  commitment to robotics and advanced automation
The Basic Components of an
 Industrial Robotic System
The application areas of Industrial Robots are:
Robotics: Emulation of Human
The Modern Technologies add the
    Qualities to the Robots:
What can you expect from
      this lecture

• Applications of Artificial Intelligence
  techniques in robotics and intelligent systems

 My goal is to extend your imagination what can be done
 using robotic and intelligent systems!!
 Main Components of Lectures:

• We reimburse your all
• Robot stays at PSU
• If you want, you can
  duplicate it next
• 1. In the Robotics
  Laboratory you can find         • 3. In the lab and in the
  many videotapes about             storage room try to
  robots from top universities.     find components that
  Watch them. This will help        may be useful for your
  you in the project.               projects. If not, look to
• 2. Try to find on Internet or     Tektronix Country
  in local shops more videos        Store, Wacky Willy or
  about robots and share them       similar shops for
  with the class.                   components.
•   Padhraic Smyth
•   Kiriakos Kutulakos, University of Rochester
•   Rojas FUB MI
•   Behnke
• A. Ferworn
• Dodd, Harvey Mudd College
• Internet
• Brian Glassman, Mechanical Engineering at Florida Institute of Technology
• John Gallagher, SUNY Institute of Technology

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