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Robotics

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What is your favorite robot?

Robby Forbidden Planet

Robocop

Tobor

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Find some good robotics videos.

Swimming fish:

http://privatewww.essex.ac.uk/~jliua/videogal.htm

Robot wars:

http://robogames.net/videos.php

http://www.metalmunchingmaniacs.com/combat-robot-videos.t

Japanese robots:

http://www.ecst.csuchico.edu/~renner/Teaching/Robotics/videos.html

http://www.plyojump.com/qrio.html

Miscellaneous robots:

http://www.roboticsonline.com/public/articles/articles.cfm?cat=298

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A robot is a reprogrammable, multifunctional

manipulator designed to move material, parts, tools,

or specialized devices through variable programmed

motions for the performance of a variety of tasks.(Robot Institute of America)

Definition:

Alternate definition:

A robot is a one-armed, blind idiot with limited memoryand which cannot speak, see, or hear.

What is a robot?

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What are robots good at?

What is hard for humans is easy for robots.

Repetitive tasks.

Continuous operation.

Do complicated calculations.

Refer to huge data bases.

What is easy for a human is hard for robots.

Reasoning.

Adapting to new situations.

Flexible to changing requirements.

Integrating multiple sensors. Resolving conflicting data.

Synthesizing unrelated information.

Creativity.

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What tasks would you give

robots?

Dangerous Space exploration

chemical spill cleanup

disarming bombs

disaster cleanup

Boring and/or repetitive

Welding car frames

part pick and place

manufacturing parts.

High precision or high speed

Electronics testing

Surgery

precision machining.

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What does building robots

teach us about humans?

How do our sensors work?

eyes

brain

How do we integrate sensors?

How does our muscular-skeletalsystem work?

How do we grab and hold an

object?

How does our brain process

information?

What is nature of intelligence?

How do we make decisions?

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What subsystems make up a

robot?

Action

Stationary base

Mobile

Sensors Control

Power supply

Robert Stengel, Princeton Univ.

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Action do some function.

Actuators

pneumatic

hydraulic

electric solenoid

Motors

Analog (continuous)

Stepping (discrete increments)

Gears, belts, screws, levers

Manipulations

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Three types of robot actions.

Pick and place

Moves items between points.

Continuous path control

Moves along a programmable

path

Sensory

Employs sensors for feedback

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Simple joints (2D)

Prismatic sliding along one axis

square cylinder in square tube

Revolute rotating about one axis

Compound joints (3D) ball and socket = 3 revolute joints

round cylinder in tube = 1 prismatic, 1 revolute

Degrees of freedom = Number of independent

motions

3 degrees of freedom: 2 translation, 1 rotation

6 degrees of freedom: 3 translation, 3 rotation

How do robots move?

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Mobility

Legs

Wheels

Tracks

Crawls Role

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What sensors might robots have?

Optical

Laser / radar

3D

Color spectrum Pressure

Temperature

Chemical

Motion & Accelerometer

Acoustic

Ultrasonic

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What use are sensors?

Uses sensors for feedback Closed-loop robots use sensors in

conjunction with actuators to gain

higher accuracy servo motors.

Uses include mobile robotics,

telepresence, search and rescue,

pick and place with machine vision.

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Control - the Brain

Open loop, i.e., no feedback,deterministic

Instructions

Rules

Closed loop, i.e., feedback

Learn

Adapt