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Outline

Introduction
What is a Robot?
Why use Robots?
Robot History
Robot Applications
Syllabus
Prerequisite, topics
Textbook and
references
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WHAT IS A ROBOT?
Origin of the word robot
Czech word robota labor, robotnik
workman
1923 play by Karel Capek Rossums
Universal Robots
Definition: (no precise definition
yet)
Websters Dictionary
An automatic device that
performs functions ordinarily
ascribed to human beings 2
WHAT IS A ROBOT?
Robotics Institute of America
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.
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WHAT IS A ROBOT?
Hollywoods 3PO
imagination

R2-D2

Star Wars

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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 5
WHAT IS A ROBOT?

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Types of Robots
Robot Manipulators

Mobile Manipulators

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Types of Robots
Locomotion

Aerial Robots Wheeled mobile robots

Humanoid Underwater robots Legged robots


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Mobile Robot Examples
Hilare II Sojourner Rover

http://www.laas.fr/~matthieu/robots/ NASA and JPL, Mars exploration

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Autonomous Robot Examples

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Autonomous helicopter

http://www-2.cs.cmu.edu/afs/cs/project/chopper/www/haughton-do.htm
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Why Use Robots?
Application in 4D environments
Dangerous
Dirty
Dull
Difficult
4A tasks
Automation
Augmentation
Assistance
Autonomous
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Why Use Robots?
Increase product quality
Superior Accuracies (thousands of an inch,
wafer-handling: microinch)
Repeatable precision Consistency of products
Increase efficiency
Work continuously without fatigue
Need no vacation
Increase safety
Operate in dangerous environment
Need no environmental comfort air
conditioning, noise protection, etc 13
Why Use Robots?
Reduce Cost
Reduce scrap rate
Lower in-process inventory
Lower labor cost
Reduce manufacturing lead
time
Rapid response to changes in design
Increase productivity
Value of output per person per hour
increases 14
Pre-History of Robots
Automata: a machine or control mechanism
designed to follow automatically a
predetermined sequence of operations or
respond to encoded instructions

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Automata Europe

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Automata Asia

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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")
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Robot History
The patent and industrial robot

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Robot History

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.
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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

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Shakey

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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.
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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
http://www.frc.ri.cmu.edu/users/hpm/
path
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The Stanford Cart

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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
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Industrial Robot --- PUMA

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Installed Industrial Robots

Japan take the lead, why? Shortage of labor, high labor cost
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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
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Robot Arm Dexterity

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Robotics: a much bigger
industry
Robot Manipulators
Assembly,
automation
Field robots
Military
applications
Space exploration
Service robots
Cleaning robots
Medical robots
Entertainment robots 31
Field Robots

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Field Robots

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Service robots

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Service robots

iRobot Scooba Robot


iRobot Verro 600 Pool
http://www.irobot.com/ Cleaning Robot
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Your servant?

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What is AI

Knowledge representation
Understanding natural language
Learning
Planning and problem solving
Inference
Search
Vision
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Learning and Evolution

Learning
Skills vs Task (Map acquisition)
Learning Methods
Learning by instruction
Learning by imitation
Learning by skill transfer
Evolution and adaptation

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Autonomous & Intelligence

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The Honda Humanoid
(1997)

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The Honda Humanoid
(ASIMO 2007)

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Robot Applications
Manufacture
Industry
Assembling
Automation
Biotechnology
Micro/Nano
manipulation
Sample Handling
Automated
Analysis
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Robot Applications
Military Applications

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Robot Applications

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Military Applications
DARPA Programs:
efense Advanced Research Projects Agency)

Tactical Mobile Robotics


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Robot Applications
Fire Fighting, Search and Rescue

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Robot Applications
Space Robotics:

NASA/DARPA Robonaut project: a humanoid


Mars Exploration Rovers: Spirit and
robot that can function as an astronaut
Opportunity --- twin robot geologists,
equivalent for spacewalks. Human operators
on earth can control the robots movements landed on Mars: Jan 3, and Jan 24,
from distance. Website: 2004, and still alive, today in 2006!
http://vesuvius.jsc.nasa.gov/er_er/html/robona Website:
ut/robonaut.html http://marsrovers.jpl.nasa.gov/overview
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Robot Applications
Robots for Assistive Technology

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Robot Applications
Entertainment Industry

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Robot Applications
Entertainment Robots Sony-QRIO

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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)
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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 Motion Mechanical
sensors planner Controller Structure

Configuration
sensor 52
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)

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Outline
Introduction
What is a Robot?
Why use Robots?
Robot History
Robot Applications
Syllabus
Prerequisite, topics
Textbook and references

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Syllabus
Introduction
History and Overview
Classification
Specification and Application
Future Direction
Robot Configuration
Anatomy of Robot
Sensors, End effectors, Drives and Control
system
Robot Cell design and control
Kinematics and dynamics of linkages
Robot Programming and Languages 55
Prerequisites

Dynamics
Hydraulic and Pneumatic Drives and
actuators
Electronics circuits and elements
Programming Language

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Topics
Robot Manipulator
Kinematics model of manipulators
Dynamic Model of manipulators
Trajectory generation
Robot Control
Mobile Robot
Kinematic and dynamic model of various
wheeled mobile robots
Feedback control of mobile robots with non
homonymic constraints
Motion planning
Mapping and Navigation
Robot Sensing:
Visual and non-visual sensors
Sensor fusion algorithms
Vision and laser based tracking control 57
Thank you!

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