Dr Sanjoy Sanyal

Professor, Surgeon, Informatician

What is a Robot? (Slides 3 – 5)

Classification of Robots (Slides 6 – 7)

Table - ½ Century of Evolution of Robotics (Slide 8)

UNIMATE (Slides 9 – 16)

IRB 6 (Slides 17 – 23)

CONSIGHT-1 (Slides 24 – 25)

Humanoid Robot Evolution (Slides 26 – 28)

WABOT-1 (Slides 29 – 32)

WABOT-2 (Slides 33 – 36)

ASIMO Development (Slides 37 – 50)

BEAR (Slides 51 – 60)

BAXTER (Slides 61 – 72)

References / Acknowledgments (Slide 73)

Contrary to what Sci-Fi thrillers would have

us believe, Robots are not self-aware machines

They will not enslave us into bonded labors in

their version of ‘Silicon Mines’!

They will not wage war against Humans, like

‘Skynet’!

They will not send one of their own from the

Future to the Present to kill a boy, who they

have determined is destined to lead future

Humans against the Robots!!

1921: Czech playwright Karel Capek coined the term 'robot‘ in his play Rossom's Universal Robots

"Robot" is from the Czech word 'robota' which means ‘forced labor’

Today: It is a programmable device that can perform a specific function in response to a specific command

Therefore it has to have:

‘Sensory’ (Input) feature

Processing capability

‘Effector’ (Output) capability

Of course, if it also looks ‘Humanoid’ that will be the icing on the cake!

An analogy can be drawn with a person

Seeing a coin on the pavement (Sensory Input)

Deciding to pick it up (Processing)

And then doing so (Effector Output)

He has used the above three features, apart

from definitely looking ‘Human’

The 1st 2 Robots (Unimate, IRB 6) had limited

Processing and ‘Effector’ (Output) capability

But they had no ‘Sensory’ features, and

definitely no ‘Humanoid’ features either!

Based on Real-world Applications

Industrial: UNIMATE; IRB6; Consight-1; BAXTER

Military: BEAR, MATILDA, MARCbot, Packbot

Space: Robonaut 2; Sojourner; Spirit; Opportunity;

Curiosity; Canadarm2; Raven (Space Telesurgery)

Surgical: PUMA; NeuroMate; NeuroArm; Minerva;

RAMS; Raven; NeuRobot; da Vinci®, AESPOP®;

HERMES®; SOCRATES®; ZEUS®

Nursing: RIBA; Robear

Domestic / Entertainment: Chess-player, Vacuum

cleaner; Violin-player; Piano-player (WABOT-2);

Dancing Robot (ASIMO-3)

Based on Versatility

Mono-Tasking (‘Specialist’): WABOT-2 (Piano-player); Violin-

player; Vacuum cleaner; Chess-player; RIBA, Robear

Multi-Tasking (‘Versatile’): WABOT-1; ASIMO; BEAR;BAXTER

Based on Physical Appearance

‘Humanoid’ (Biped/Caster, Mobile): WABOT-1; WABOT-2;

ASIMO; Robonaut2; BEAR; PETMAN; BAXTER; RIBA; Robear

‘Non-Humanoid’: Most Robots in use nowadays

Robotic Arms (Non-mobile): Most Industrial Robotic Arms (IRB6,

UNIMATE,); Canadarm2; All Surgical Robots ( Previous slide)

Robotic Vehicles (Mobile): Martian Robotic Vehicles (Sojourner; Spirit;

Opportunity; Curiosity); Military Robots (MATILDA, MARCbot,

Packbot); DARPA Research Robots (Racing Cars, RHex, Sand Flea)

Quadruped Robots (Mobile): DARPA Research Robots (Cheetah)

Year ROBOT Company / Organization

1961 UNIMATE Slides 9-16 General Motors, USA

1972-1973 IRB 6 Slides 17-23 ASEA BB, Sweden

1978 CONSIGHT-1 Slides 24-25 General Motors, USA

1970-1973 WABOT 1 Slides 29-32 Waseda University, Japan

1980-1984 WABOT 2 Slides 33-36

1986-1993 Honda E Series Honda, Japan

1993-1997 Honda P Series

2000-2002 ASIMO-1 Slides 37-50

2004-2007 ASIMO-2

2011, 2014 ASIMO-3 +

2005- 2012 BEAR Slides 51-60 Vecna Technologies, USA

2012 BAXTER Slides 61-72 Rethink Robotics, USA

1st Industrial Robot

Year: 1961

Company: General Motors assembly line, Inland Fisher Guide Plant, Ewing Township, New Jersey

Inventor: George C. Devol

Weight: ~ 1 Metric Ton

Components: Big computer-like box, joined to another box, connected to an Arm, with systematic tasks stored in a Drum Memory (Cognitive Geometrics)

1950s: Devol created it 1954: Filed patent 1961: Received patent Patent Description: “The

present invention relates to

the automatic operation of

machinery, particularly the

handling apparatus, and to

automatic control apparatus

suited for such machinery”

Devol successively called it ‘Programmed Article Transfer’; ‘Manipulator’; and finally ‘Robot’

Programmed to transport die castings from an assembly line and welding these parts on auto bodies

Dangerous task for workers; Could be poisoned by gas fumes or lose a limb if they were not careful

Unimate was

obviously nothing like the Sci-Fi

versions of Androids,

or Humanoid

Robots

Kawasaki Unimate and ArcWorld Motoman

PROGRAMMABLE UNIVERSAL MACHINE FOR ASSEMBLY (PUMA) INDUSTRIAL ROBOT (1985 – ADVANCED RESEARCH & ROBOTICS, OXFORD, CT) : PUMA WAS THE 1ST TIME A ROBOT WAS EVER USED FOR NEUROSURGERY

UNIMATE PUMA 500 UNIMATE PUMA 200

In various shows, Unimate could do the following:

Knock a golf ball into a cup

Wave the orchestra conductor's baton

Grasp an accordion and wave it around

Pour beer for a gentleman!

Pour coffee for a lady!!

George Devol and his apprentice Joseph Engelberger started the world's 1st robot manufacturing company, UNIMATION, INC.

IRB 6 was 1st

model of ASEA

IRB

Year: 1972-1973

on assignment

by ASEA CEO

Curt Nicolin

Designers: Björn

Weichbrodt, Ove

Kullborg, Bengt

Nilsson, Herbert

Kaufmann

Company: ASEA

BB in Västerås,

Sweden

World’s 1st fully electrically-driven, Microprocessor-controlled industrial Robot, using Intel’s 1st chipset in a Programmable Microcomputer

Memory: 16 KB RAM

LED Display: Could display 4 Digits

Movement: 5 axis (Later 6)

Lift capacity: 6 kilograms

ASEA IRB: An industrial robot series

Years: 1975 to 1992

Functions: Material handling, Packing, Transportation, Polishing, Welding, Grading

1st IRB 6 could wax and polish stainless steel tubes bent at 90° angles

IRB 6 was the Swedish symbol for a new Labor market, shared between man and robot

Later versions of IRB 6 had 6 axis of movements

These versions came after 1988, when ASEA merged with Brown, Boveri and Cie to form ABB

With success of Unimate, other auto companies started using their own versions of Robotic Arms

A typical robot was designed to weld hot pieces of metal together in a repetitive fashion

Robots are good at repetitive, monotonous tasks requiring precision and / or those that are potentially dangerous for humans

Robotic Arms can perform such tasks tirelessly, while saving humans from harm

Today almost every car manufacturing plant uses Robots in their assembly lines

Robotic Arms Did Have

Programmable capability

Limited ‘Memory’

Movement in up to 6 Joints (Waist, Shoulder, Elbow, Wrist Bend, Flange, Wrist Rotation)

Robotic Arms Did NOT Have

‘Sensory’ facilities: Ability to pick up Visual /Auditory cues from environment

‘Humanoid’ appearance

Therefore, devising a Robot with ‘Sensory’ capability was the next logical step

In foreground is a Metal Table, with a reflective surface

On left foreground is a black Robotic Arm

Behind the table is a Conveyor Belt

The man is placing Objects on the Belt, with ‘1978 Consight’, ‘771015-25’ etc written

Above the Belt is a Frame of black pipes with Sensors

‘A Vision-Controlled Robot System’

‘A Practical Vision-based Robot Guidance System’

1st Robot with ‘Sensory Input’ capability

Year: ca. 1978

Company: General Motors

Use: Transfer parts on conveyor belts

Visual Sensors could detect and sort 6 different kinds of auto parts from a Conveyer Belt transporting 1,400 auto parts / hour Pictures: Courtesy SciShow (Brief History of Robotics)

1495: Leonardo da Vinci created a

‘Humanoid Automaton’

Apparently, it could sit up, move its

arms, twist its head

Cloaked in European medieval

armor like a Knight

Discovered in manuscripts in 1950

Side issue: da Vinci Surgical System®

is a master-slave robotic system

created by Intuitive Surgical, Inc.

in 1997. It has 3-D visualization

and Endo-wrist®. It got FDA

approval for Abdominal and

Cardiac surgery in 2000 and 2002. It

is used in 210 centers worldwide.

Elektro was closer to the

concept of a ‘Humanoid Robot’

Company: Westinghouse

Electric Corporation

Year: 1937 – 1938

Stats: 7’ tall; 265 lbs weight

Walked on voice command

Spoke 700 words through a 78-

rpm record player

World Fair (1939): Smoked

cigarettes, blew up balloons,

distinguished between red and

green lights, moved his head

and arms

Till 1970s: Artificial Intelligence (AI) was

still in its infancy

‘Android Robots’ were designed to

mathematically calculate and analyze

what they ‘saw’ in their environment

These ‘Retro Robots’ got ‘paralyzed’ after

moving forward by a meter, overwhelmed

with all the new input

1980s -1990s: Turning point in study of

AI; A Robot did not need a highly

accurate representation of the world to

interact with it, an idea inspired by

movement of Nature itself

This new perspective revolutionized the

study of AI and Robotics

WABOT: WAseda RoBOT

Designer: Ichiro Kato

Institution: Waseda University in Tokyo, Japan

Year: 1970 – 1973

1st full-scale Anthropomorphic Humanoid Locomotion-type ‘Versatile’ Robot

WABOT-1 Features:

Limb Control System

Artificial Eyes, Ears, Mouth

Distance and Direction Sensors

Tactile Sensors

Gripping, Transporting Objects

Vision System

It used eyes to recognize objects

It could determine distance/direction

Speech System

It could converse with people

Initially only in Japanese

Mental Faculty: Of a 1 ½ year-old child

Limb Control System

Lower Limbs:

Biped stance

Bipedal locomotion

Upper Limbs:

Tactile Sensors on its Hands

Could Grip and Transport objects

WABOT-1 consisted of

WAM-4: Artificial hands

WL-5: Artificial legs

Could measure distance

Locate direction of things it searched for

All these were possible due to:

External Receptors

Artificial Eyes

Artificial Ears

Artificial Mouth

WABOT-1 was classified as a ‘Versatile’ Robot

Picture: Courtesy SciShow (Brief History of Robotics)

Year: 1980 – 1984

Institution: Waseda University, Japan

Type: Humanoid ‘Specialist’ Robot in the 1980s

WABOT-2 Features:

Camera

Skilful Hands

Speakers and Microphones

80 microprocessors

50 Degrees of Freedom

‘Intelligent’: Could play keyboard

‘Expert’ Hands: Could play quite difficult tunes

Conversation: Could converse with people in Japanese

‘Vision’: Installed cameras served as ‘Eyes’ ‘Reading’: Could read musical notes

‘Hearing’: Could listen, accompany singers, adjust its tempo ad-hoc

Mission of WABOT-2:

Playing a keyboard

instrument was set up

as an ‘intelligent’ task

WABOT-2 aimed to

accomplish that

An artistic activity such

as playing a keyboard

instrument required

human-like intelligence

and dexterity

WABOT-2 was defined

as a ‘Specialist Robot’

rather than a ‘Versatile

Robot’ like WABOT-1

1984 version is pictured here

ASIMO: Advanced Step in Innovative MObility

Humanoid Robot

Company: Honda, Japan

Year: 21 October 2000

Height: 51 inches (130 cm)

Can walk or run at speeds of up to 3.7 mph (6 km/hour)

Can climb up / down stairs, carry a tray, push a cart

Can detect movements of multiple objects

Assess distance, direction

Can greet a person when he/she approaches

Honda’s Goal: Create a walking robot which can adapt and interact in human situations, and improve quality of life

1980s: Began developing Humanoid Robots preceding ASIMO

Honda E Series (1986-1993): E0 was the 1st Bipedal Model

Honda P Series (1993-1997): Included 1st self-regulating, Humanoid Walking Robot with wireless movements (Right pic.)

E- and P-Series paved the way for ASIMO (Lower picture; P3 on left, ASIMO on right)

Weight: 52 Kg

Height: 120 cm

Width: 45 cm

Depth: 44 cm

Walking Speed: 1.6 km/ hr

Running Speed: Nil

DoF (Degrees of Freedom): 26

Battery: Ni-mH; 38.4 Volts; 4

hours to fully charge

Battery Time: 30 minutes

Languages: Nil

Ideal Height: Between 120 cm and

height of an average adult, for

operating door knobs, light switches

Battery: Transition from Nickel

Metal Hydride (in Asimo-1) to

rechargeable 51.8V lithium Ion

battery (in Asimo-2/3) increased

operating time to 1 hour

Computer: 3-D Computer Processor;

Consists of 3-Stacked die, Processor,

Signal Converter and Memory

Location: In the ‘waist’ area and can

be controlled by a PC, Wireless

Controller or Voice Commands

Weight: 54 Kg

Height: 130 cm

Width: 45 cm

Depth: 37 cm

Walking Speed: 2.5-2.7 km/hr

Running Speed: 3-6 km / hr

DoF: 34

Battery: Li-Ion; 51.8 Volts; 3 hours

to fully charge

Battery Time: 40-60 minutes

Languages: Nil

Weight: 48 Kg

Height: 130 cm

Width: 45 cm

Depth: 34 cm

Walking Speed: 2.7 km/hr

Running Speed: 9 km / hr

DoF: 57

Battery: Li-Ion; 51.8 Volts; 3

hours to fully charge

Battery Time: 60 minutes

Languages: English, Japanese

Walking Speed: 2.7 kilometers per hour (1.7 mph)

Running Speed: 9 kilometers per hour in a Straight line

Determined by:

Floor Reaction Control and

Target Zero Moment Point Control

Tokyo Motor Show 2011

Asimo-1 (2000-2002)

Asimo-2a (2004)

Asimo-2b (2005-2007)

Asimo-3 (2011)

Walking 1.6 km/hour 2.5 km/hour 2.7 km/hour 2.7 km/hour

Running Nil 3 km/hour 6 km/hour 9 km/hour

Movements are determined by Floor Reaction Control and Target Zero Moment Point Control

These enable ASIMO to keep firm stance and maintain position

Can adjust length of steps, body position, speed and direction of step

Sole of Foot is part of the Floor Reaction Control

ASIMO 2004-2007 has total of 34 DoF

Calculation 1: Neck, Shoulder, Wrist, Hip Joints

each have 3 DoF (Total = 21 DoF)

Hand (4 fingers + thumb) each has 2

DoF (Total = 4 DoF)

Ankle each has 2 DoF (Total = 4 DoF)

Waist, Knees, Elbows each have 1 DoF

(Total = 5 DoF)

Calculation 2: Head = 3 DoF

Arms = 7×2 (=14 DoF)

Hands = 2×2 (=4 DoF)

Torso = 1 DoF

Legs = 6×2 (=12 DoF)

Dancing in Disneyland 2005

Asimo 2000-2002

Asimo 2004-2007

Asimo 2011

Head (Neck) 2 3 3

Arm (Shoulder, Elbow, Wrist)

5 x 2 = 10 7 x 2 = 14 7 x 2 = 14

Hand (Fingers) 1 x 2 = 2 2 x 2 = 4 13 x 2 = 26

Torso (Waist) 0 1 2

Leg (Hip, Knee, Ankle)

6 x 2 = 12 6 x 2 = 12 6 x 2 = 12

Total DoF 26 34 57

Conducting an Orchestra in April 2008

Environment Identifying Sensors: (1st picture)

Visual Sensors

Ground Sensors

Ultrasonic Sensors

Visual Sensors: 2 cameras inside Head; Used to detect obstacles (2nd picture)

Ground Sensors: In lower portion of Torso; Includes 1 Laser Sensor and 1 Infrared (IR) Sensor (1st picture)

Laser Sensor: Detects ground surface

IR Sensor: With automatic shutter based on brightness

Detects pairs of floor markings to confirm navigable paths of the planned map (2nd picture)

Ultrasonic Sensors: In the Front and Rear; To sense Obstacles

Front Sensor: In the lower portion of Torso, with the Ground Sensors (1st picture)

Rear Sensor: At the bottom of backpack (2nd

picture)

BEAR: Battlefield Extraction-Assist Robot

Company: Vecna Technologies, Cambridge Research Laboratory near Boston, Massachusetts

Inventor: Daniel Theobald, President and CTO of Vecna

Year: 2005 (Version 1); 2012 (Version 8)

Form: Some ‘Humanoid’ features –Head, Neck, Torso, 2 Arms, 2 ‘Legs’ (which are actually treads)

Purpose: Evacuate wounded soldiers from battle zone with no risk to human life; Transport civilians from disaster area

1. Teddy Bear Face: Reassures wounded soldier

2a. Hydraulic Upper Torso Actuator: Carries 520 lbs (236kgs); Earlier version carried 360 lbs

2b. Hydraulic Exertion: 3000 PSI

3a. Kneeling: Tracked ‘legs’ travel over rubble

3b. Standing: Switches to wheels on smooth surfaces

4. Dynamic Balance Behavior (DBB): Can carry heavy loads upright on its Ankles, Knees or Hips for 1 Hour

Maintains balance in any position even while carrying heavy objects

5. Frame: Aluminum (1st

version); Steel (2nd next version); Titanium (Subsequent versions)

Explosion and Fire-resistant

Steel framing around the hydraulic lines and battery

Hydraulic Actuator in

Torso is controlled by

Solenoids that turn the

Hydraulic Valves on and

off to make Robot move

Tracked Legs are

electronically powered

Battery Pack powers the

Tracked Legs for 1 hour

Developments to Battery

Pack will double its

capacity and give the

Tracked Legs 2 hours of

run time

Hands are very strong

Hydraulic Actuator

gives it ability to lift

520 lbs

Previous versions

could lift 360 lbs

Titanium frame will

increase its lifting

capacity

Pictures show it lifting

a 185 lb dummy

Very precise grip; Can

grasp an egg without

breaking it

Slides its ‘Arms’ under its

burden like a forklift

Later versions are fitted

with maneuverable hands

to gently scoop up

casualties

Can lift 135kg with its

hydraulic arms in a single

smooth movement, to

avoid causing pain to

wounded soldiers

However, there is no

feature to support the Head

of an unconscious soldier

Independent legs for enhanced mobility

Combination of Gyroscopes and Computer-controlled motors maintain balance

Can cross bumpy ground without toppling

Can tackle stairs while carrying a human-sized dummy

Remotely Controlled: An operator can see and hear through IR, Night Vision, Optical Cameras and Microphone installed in BEAR

Touch and Pressure Sensors on BEAR's Hands

Chemical and Biological Agent detection Sensors

Voice Commands: BEAR AI can process it

BEAR can ask for assistance

iGlove: Motion-capture glove allows soldier to make a simple hand gesture to command the Robot

Mounted Force Controller. Special rifle grip mounted on M-4 carbine

Narrow enough to squeeze through doorways

Search and Rescue operations

Transporting supplies

Clearing obstacles

Lifting heavy objects

Handling hazardous materials

Reconnaissance

Inspecting for mines and IEDs

Civilian Rescue: Mineshafts, Earthquakes, Fire, Mudslides

Industrial: Moving heavy inventory

Healthcare: Heavy patients, Handicapped, Elderly

Humanoid Industrial Robot with

Two 7-axis arms

Screen mimicking an animated Face

Integrated Cameras

Sonar

Torque Sensors

Direct Programming access

Height: 3-foot without pedestal; 5'10" - 6'3" with pedestal

Weight: 165 lbs without pedestal; 306 lbs (138 kg) with pedestal

Cost: $25,000 (£19,000/ €22,000)

Company: Rethink Robotics

Founder: Rodney Brooks

Year: September 2012

Performs simple industrial jobs and dull tasks on a production line; such as

Loading / Unloading

Sorting

Handling of materials

Baxter runs on open-source Robot Operating System on a regular, Personal Computer which is embedded in its chest

Baxter does not need elaborate programmingor software engineersAny worker can program Baxter in minutesUsual industrial robots require extensive codes and programs

Baxter has extra sensors in its hands that allow it to pay very close attention to detail

Face is an animated screen

Baxter can express itself by making facial expressions

Its face can show what it is focused on, and its current status

It can express confusion when something is not right

Baxter has sensors surrounding its Head that allow it to sense people nearby

Sensors around its head allow Baxter to adapt to its environment

It knows that it cannot continue with its job if it drops a tool

Most other industrial robots either try to do their task repeatedly despite lacking the proper tools, or shut down, or stop working at the slightest

change in their environment Extra dials, buttons, and

controls are available on Baxter's arm for more precision and features

Sorting objects, brewing coffee, folding a T-shirt, handling a kitchen knife, looping wires, etc; Baxter can learn You move your hands in the desired motion and Baxter can memorize themBaxter can be taught to perform multiple complicated tasks

Hank Green. SciShow Presenter; A Brief History of Robotics. (The inspiration behind this PPTX) URL: https://www.youtube.com/watch?v=uoC2ZGRI8a8

History of Robots: URL: http://www.robots-and-androids.com/history-of-robots.html

Consight: URL: http://www.computerhistory.org/collections/catalog/102640482

Waseda University Humanoid: URL: http://www.humanoid.waseda.ac.jp/booklet/kato_2.html

Thank you for watching