Introduction to Robotics

ENGR450 Robotics First Day Presentation August 2008 Matthew Stein

What is a robot?

FANUC is definitely a robot, right?

What is and is not a robot?

Lets attempt a formal definition..

A mechanical device which uses sensors and actuators to perform a useful task?

Articulated mechanical device with multiple degrees of freedom?

Computer controlled mechanical device?

No!

Hmm, maybe?

A complex, computer controlled, multiple degree of freedom mechanical device which performs its function autonomously?

A complex, programmable, computer controlled mechanical device with servo-control of multiple degrees of freedom?

Numerically Controlled Lathe

ISO Standard Definition:

A robot is an automatic, servo-controlled, freely programmable, multi-purpose manipulator with several degrees of freedom. Variably programmed operations make possible execution of a multiplicity of tasks.

Early SCARA robot

Is this a robot?

Medical sample robots Are these robots?

History of Robots?

Origin of the word robot

Czech word robota drudgery,robotnik peasant 1923 play by Karel CapekRossums Universal Robots Often referred to as RUR

RUR Synopsis
Protoplasm based Context: Marxist Revolution Machines created as servants Get tired of their lot and attempt to take over the world

Metropolis 1927

Literature
1940-50s I, Robot by Issac Asimov 3 Laws of robotics (paraphrase)
Robot may not harm a human, or through inaction allow a human to become harmed Robot must obey human commands except when in conflict with law one Robot must ensure its own safety except when in conflict with first two laws

Hardcore SF read by the geeky

Bella Legosi Early 50s, I dont know

Forbidden Planet

1 9 5 6 !

Lost in space 1960s TV series

Silent Running 1971

Bruce Dern
Hewey, Dewey and Louie

1977

Saturn 3 - 1980

1984

Huh?

Metropolis 1927

Short Circuit 1986

RobotCop 1987

1993

3D Biped

1993

Short Circuit 1986

2004

Mechanical men Created as servants Get tired of their lot and attempt to take over Huh?

RUR Synopsis
Protoplasm based Context: Marxist Revolution Created as servants Get tired of their lot and attempt to take over

Real Robots
Some slides taken from

Categories of Robots
Manipulation Robots
Fixed base Dexterous manipulation capability

Categories of Robots
Locomotion Robots
Primarily navigate and sense Limited manipulation capability

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

History
1982 IBM 7535 Manufacturing System

History
1983 Westinghouse Electric Bought Unimation Became part of Manufacturing Automation division Never profitable, later sold to Staubli Automation

History
1987 I bought my first PUMA 1990-93 Hitachi Ninja Control problems dominate Computation not available

Dante 1995

Automatically Piloted Vehicle 1998

Sojourner 1998

Whats the problem?

Why not more examples of functional robots? What arent robots building toasters by now?
Dynamic Balance Vision/sensing Dexterous manipulation w/ finite power Batteries/tether

Most walking robots use statically stable gate

Flamingo (MIT) 1995-2000

Harness for safety, true dynamically balancing robot

What robot could you buy today?

Modern cousins of early manipulation robot These cost > $100,000 Sleeker/better design

Basic principles unchanged

Multi-DOF arm attached rigidly to the floor PUMA early example

Latest Robotics Research Arm

Vacuum

Home Robots

Spy-Cye

Honda ASIMO $1,000,000

Sony Qiro $40,000

Whats the latest research?

Hazardous environments Service Robots Human/Robot Interaction Expensive environments Education Household Robots

Kinda robotics-ish technology integrated into human-operated appliances

Anthropomorphic/Humanoid

Robonaut

Insect-inspired robots

Tiny Robots, Swarms

Nanorobots

In the not really robots category

Robotics contest contraptions FIRST Kickboxing

Robot Wars

Entertainment bots available for parties, trade shows etc.

Toys give me a break

Crackpot robots

Robby

Homework assignment (10 pts)

Research the WWW and find :
1. One example of a real, working robot meeting ISO definition
Academic research labs Spin-off companies Industrial equipment manufacturers

2. One example of something called a robot that does not meet ISO definition
Crack pots Toys Entertainment

You will find hundreds of sites

Homework Assignment (contd)

Use Discussion Board section in BlackBoard Bonus 10 points for finding a working robot I have never heard of (Ill be fair) You are prohibited from using
the robots in this slide show or Already used by classmate

Do this by Friday Ill share results