M. De Cecco - Lucidi del corso di Robotics Perception and Action

Robotics Perception and Action

Prof. Mariolino De Cecco, Ing. Mattia Tavernini

Department of Structural Mechanical Engineering, University of Trento

Email: mariolino.dececco@ing.unitn.it

http://www.mariolinodececco.altervista.org/

M. De Cecco - Lucidi del corso di Robotics Perception and Action

What is a Robot?

Robot definition

M. De Cecco - Lucidi del corso di Robotics Perception and Action

In 1921 the term ROBOT was introduced by Karel Čapek that wrote “I Robot Universali di Rossum (R.U.R.)” from the slavic term ROBOTA that means executive work (the robot ends up to rebel)

In 1940 Isaac Asimov in his books conceived robots with human features but without feelings. Their brains were programmed by man according to precise rules of ethical conduct:

•A robot may not injure a human being or allow, remaining idle, that a human being is in danger

•A robot must obey orders given it by human beings, except where such orders would conflict with the First Law

•A robot must protect its existence unless such protection should not be in conflict with the first or second law

Robot definition

M. De Cecco - Lucidi del corso di Robotics Perception and Action

Robot definition

Science fiction has influenced the imagination of people not belonging to the world of engineering which envision robots as androids able to talk and walk (some industrials still prefer anthropomorphous robots than Cartesian although less suitable for the application)

Currently there is no commonly accepted definition

A common robot definition is a system able to make an intelligent connection between perception and action

M. De Cecco - Lucidi del corso di Robotics Perception and Action

A robot is able to:

PERCEPT

PLAN

ACT

Robot definition

M. De Cecco - Lucidi del corso di Robotics Perception and Action

Engineering involved in robotics:

MECHANICS

ELECTRONICS

INFORMATICS

Robotics definition

M. De Cecco - Lucidi del corso di Robotics Perception and Action

The robot from a systemistic point of view

M. De Cecco - Lucidi del corso di Robotics Perception and Action

Robot categories

• Manipulators

• Mobile vehicles

• Aeorobot

• Free-flying robot

• Humanoids

• Biomimetics

M. De Cecco - Lucidi del corso di Robotics Perception and Action

The robot from a systemistic point of view

Structured environment Not structured

Few sensors Many sensors (also reduntant)

SENSORFUSION

DATAAGGREGATION

M. De Cecco - Lucidi del corso di Robotics Perception and Action

DATA AGGRE-GATION

MOBILE VEHICLES

SENSORFUSION

Introduction – TOPICS COVERED

Perception

ROBOTICSENSORS

Action

PATH PLANNING

PATH CONTROL

M. De Cecco - Lucidi del corso di Robotics Perception and Action

Holonomic and non-holonomic systems

In manipulators one extreme is rigidly constrained to a base, to the other end is fixed an end effector.Knowing the variable associated with each joint (joint variable: angle for revolute, relative position for prismatic), the position and orientation (pose or posture) of the terminal are uniquely determined

In the case of mobile robots we do not have rigid constraints to determine the position unequivocally, but wheels (generally) that determine a speed constraintKnowing the variable connected with each joint (total angle of rotation of the wheel) there is no information about the pose of the vehicle

M. De Cecco - Lucidi del corso di Robotics Perception and Action

An example

The vehicle arrives in a final position estimating means odometry to be P1 (with associated uncertainty expressed from the ellipse corresponding)

A measuring system to the triangulation communicates that is located in P2 (with associated uncertainty expressed from the ellipse corresponding)

WHERE THE ROBOT ESTIMATES TO BE?

Where I am?

?

Where I’m going?

SENSOR FUSION

P1P2

M. De Cecco - Lucidi del corso di Robotics Perception and Action

DATA AGGREGATION

M. De Cecco - Lucidi del corso di Robotics Perception and Action

In order to test million reagents to determine the most suitable mixtures to the definition of new drugs requires the intervention of automatic machines reprogrammable.In transactions by human users, you can check about 30 mixtures per day  Through the intervention of the robot the number rose to 10,000 in one day

Other advantages are:  avoids repetitive operations and then alienating for a person  it avoids the handling of hazardous reagents (eg radioactive, corrosive, etc.)  can be controlled in an automatic manner the environmental conditions (eg temperature)  disadvantage:  the whole system must be structured in a much more rigid than the human case (storage systems raw materials and compounds, manipulation and insertion). So the company has to bear a greater initial cost compared to a benefit in the medium to long term

Applications – Robot in Pharmaceutics

M. De Cecco - Lucidi del corso di Robotics Perception and Action

Applications – Robot for goods handling

M. De Cecco - Lucidi del corso di Robotics Perception and Action

Robotic vehicles from fieldThe robotic vehicles are developed for both civilian and military applications that space for use in land primitive, ie without roads of any kind.The experience developed for autonomous vehicles "off-road" is used in other sectors such as agriculture, mining and operations in hazardous environments

M. De Cecco - Lucidi del corso di Robotics Perception and Action

M. De Cecco - Lucidi del corso di Robotics Perception and Action

Running and JumpingIn the evolution of robotics there is a long tradition of making use of imitation of biological systems. The Japanese research laboratories have been and are very interested in the "bio-mimetic", achieving important successes.

M. De Cecco - Lucidi del corso di Robotics Perception and Action

M. De Cecco - Lucidi del corso di Robotics Perception and Action

A circular soft robot that can crawl and jump

M. De Cecco - Lucidi del corso di Robotics Perception and Action

Applicazioni – AGV industriali

Examples of industrial applications:

- Transpallet

- robot to change the spool

M. De Cecco - Lucidi del corso di Robotics Perception and Action

Applications – Robots for surgery

It is teleoperated systems that allow remote operations

M. De Cecco - Lucidi del corso di Robotics Perception and Action

M. De Cecco - Lucidi del corso di Robotics Perception and Action

Automobile

Applications – Robot welding / painting

M. De Cecco - Lucidi del corso di Robotics Perception and Action

International research objectives