Capstone Design --- Robotics

Historical Development of Robotics

John (Jizhong) Xiao Department of Electrical Engineering City College of New York jxiao@ccny.cuny.edu

City College of New York

Outline
What is a Robot? Why use Robots? Robot History

Robot Applications

City College of New York

What is a robot?
Definition: (no precise definition yet)
Websters Dictionary
An automatic device that performs functions ordinarily ascribed to human beings washing machine = robot?

Robotics Institute of American

A robot (industrial robot) is a reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices, through variable programmed motions for the performance of a variety of tasks.
City College of New York

What is a robot?
Hollywoods imagination
3PO

R2-D2

Star Wars

City College of New York

What is a robot?
By general agreement, a robot is:
A programmable machine that imitates the actions or appearance of an intelligent creatureusually a human.

To qualify as a robot, a machine must be able to:

1) Sensing and perception: get information from its surroundings 2) Carry out different tasks: Locomotion or manipulation, do something physicalsuch as move or manipulate objects 3) Re-programmable: can do different things 4) Function autonomously and/or interact with human beings

City College of New York

Types of Robots
Robot Manipulators

Mobile Manipulators

City College of New York

Types of Robots
Locomotion

Aerial Robots

Wheeled mobile robots

Legged robots

Humanoid

Underwater robots City College of New York

7

Mobile Robot Examples

Hilare II Sojourner Rover

http://www.laas.fr/~matthieu/robots/

NASA and JPL, Mars exploration

City College of New York

Autonomous Robot Examples

City College of New York

Why Use Robots?

Application in 4D environments

Dangerous Dirty Dull Difficult

Automation Augmentation Assistance Autonomous

4A tasks

City College of New York

10

Pre-History of Robots
Automata: a machine or control mechanism designed to follow automatically a predetermined sequence of operations or respond to encoded instructions

City College of New York

11

Automata
Europe

City College of New York

12

Automata
Asia

City College of New York

13

Robot History
1961
George C. Devol obtains the first U.S. robot patent, No. 2,998,237. Joe Engelberger formed Unimation and was the first to market robots First production version Unimate industrial robot is installed in a die-casting machine

1962
Unimation, Inc. was formed, (Unimation stood for "Universal Automation")

City College of New York

14

Robot History
The patent and industrial robot

City College of New York

15

Robot History
What an industrial robot must have?

1968
Unimation takes its first multi-robot order from General Motors.

1966-1972
"Shakey," the first intelligent mobile robot system was built at Stanford Research Institute, California.
City College of New York

16

Robot History
Shakey (Stanford Research Institute) the first mobile robot to be operated using AI techniques Simple tasks to solve: To recognize an object using vision Find its way to the object Perform some action on the object (for example, to push it over)

http://www.frc.ri.cmu.edu/~hpm/book98/fig.ch2/p027.html
City College of New York
17

Shakey

City College of New York

18

Robot History
1969
Robot vision, for mobile robot guidance, is demonstrated at the Stanford Research Institute. Unimate robots assemble Chevrolet Vega automobile bodies for General Motors.

1970
General Motors becomes the first company to use machine vision in an industrial application The Consight system is installed at a foundry in St. Catherines, Ontario, Canada.
City College of New York
19

The Stanford Cart

Hans Moravec

1973-1979
Stanford Cart Equipped with stereo vision. Take pictures from several different angles The computer gauged the distance between the cart and obstacles in its path
20

http://www.frc.ri.cmu.edu/users/hpm/

City College of New York

The Stanford Cart

City College of New York

21

Robot History
1978
The first PUMA (Programmable Universal Machine for Assembly) robot is developed by Unimation for General Motors.

1981
IBM enters the robotics field with its 7535 and 7565 Manufacturing Systems.

1983
Westinghouse Electric Corporation bought Unimation, Inc., which became part of its factory automation enterprise. Westinghouse later sold Unimation to Staubli of Switzerland.

City College of New York

22

Industrial Robot --- PUMA

City College of New York

23

Installed Industrial Robots

Japan take the lead, why?

Shortage of labor, high labor cost

24

City College of New York

How are they used?

Industrial robots
70% welding and painting 20% pick and place 10% others

Research focus on
Manipulator control End-effector design
Compliance device Dexterity robot hand

Visual and force feedback Flexible automation

City College of New York

25

Robot Arm Dexterity

City College of New York

26

Robotics: a much bigger industry

Robot Manipulators
Assembly, automation

Field robots
Military applications Space exploration

Service robots
Cleaning robots Medical robots

Entertainment robots
City College of New York
27

Field Robots

City College of New York

28

Field Robots

City College of New York

29

Service robots

City College of New York

30

Service Robot Example

iRobot Inc Roomba video presenting

City College of New York

31

The early stage of AI

City College of New York

32

The start of AI

City College of New York

33

Autonomous and Intelligence

City College of New York

34

The Honda Humanoid (1997)

City College of New York

35

Humanoid

City College of New York

36

Robot Applications
Manufacture Industry
Assembling Automation

Biotechnology
Micro/Nano manipulation Sample Handling Automated Analysis

City College of New York

37

Robot Applications
Military Applications

City College of New York

38

Military Applications
DARPA Programs:
(Defense Advanced Research Projects Agency)

Tactical Mobile Robotics City College of New York

39

Robot Applications
Fire Fighting, Search and Rescue

City College of New York

40

Robot Applications
Space Robotics:

NASA/DARPA Robonaut project: a humanoid robot that can function as an astronaut landed on Mars: Jan 3, and Jan 24, equivalent for spacewalks. Human operators 2004, and still alive, on Aug. 31! on earth can control the robots movements Website: from distance. Website: http://vesuvius.jsc.nasa.gov/er_er/html/robona http://marsrovers.jpl.nasa.gov/overview / ut/robonaut.html 41 City College of New York

Mars Exploration Rovers: Spirit and Opportunity --- twin robot geologists,

Robot Applications
Robots for Assistive Technology

City College of New York

42

Robot Applications
Entertainment Industry

City College of New York

43

Robot Applications
Entertainment Robots

Sony-Qrio

City College of New York

44

Personal Robot?

http://www.personalrobots.com Just as the personal computer is used for automated information management even in households, robots can be used to execute domestic tasks. Manipulation of bits of information (PC) Manipulation of physical objects (PR)
City College of New York
45

Previous Projects

Video Presenting

City College of New York

46

Architecture of Robotic Systems

Mechanical Structure
Kinematics model Dynamics model

Actuators: Electrical, Hydraulic, Pneumatic, Artificial Muscle Computation and controllers Sensors Communications User interface Power conversion unit

Environmental sensors

Motion planner

Controller

Mechanical Structure

Configuration sensor
City College of New York
47

Summary
Robotics--interdisciplinary research
Mechanical design Computer science and engineering Electrical engineering
Cognitive psychology, perception and neuroscience

Research open problems

Manipulation, Locomotion Control, Navigation Human-Robot Interaction Learning & Adaptation (AI)
City College of New York
48

Thank you, enjoy the design!

City College of New York

49