Chapter 7

Robotic Sensing and Manipulation

7.1 Introduction to robotics
Robotics is a branch of engineering and science that includes
electronics engineering, mechanical engineering and computer
science and so on.
 This branch deals with the design, construction, use to
control robots, sensory feedback and information
processing.
 These are some technologies which will replace humans
and human activities in coming years.
 These robots are designed to be used for any purpose but
these are using in sensitive environments like bomb
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detection, deactivation of various bombs etc..
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 Robots can take any form but many of them have given
the human appearance.
 The robots which have taken the form of human appearance
may likely to have the walk like humans, speech, cognition
and most importantly all the things a human can do.
 Most of the robots of today are inspired by nature and
are known as bio-inspired robots.
 Robotics is that branch of engineering that deals with
conception, design, operation, and manufacturing of robots.

Issac’s three principles about how to guide robotic machines.

 Robots will never harm human beings.
 Robots will follow instructions given by humans with
breaking law one.
 Robots will protect themselves without breaking other rules.2
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Characteristics
There are some characteristics of robots given below:
 Appearance: Robots have a physical body. They are held by
the structure of their body and are moved by their mechanical
parts. Without appearance, robots will be just a software
program.
 Brain: Another name of brain in robots is On-board control unit.
Using this robot receive information and sends commands as
output. With this control unit robot knows what to do else it‘ll
be just a remote-controlled machine.
 Sensors: The use of these sensors in robots is to gather info from
the outside world and send it to Brain. Basically, these sensors
have circuits in them that produces the voltage in them.
 Actuators: The robots move and the parts with the help of these
robots move is called Actuators. Prepared
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Some examples of actuators are motors, pumps, and
compressor etc. The brain tells these actuators when and how to
respond or move.
 Program: Robots only works or responds to the instructions
which are provided to them in the form of a program. These
programs only tell the brain when to perform which
operation like when to move, produce sounds etc. These
programs only tell the robot how to use sensors data to make
decisions.
 Behavior: Robots behavior is decided by the program which
has been built for it. Once the robot starts making the
movement, one can easily tell which kind of program is
being installed inside the robot.
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7.1.1 Sensing
 Robotic sensing is a subarea of robotics science intended
to provide sensing capabilities to robots.
 Robotic sensing provides robots with the ability to sense their
environments and is typically used as feedback to enable
robots to adjust their behavior based on sensed input.
 Robotic sensors are used to estimate a robot's condition and
environment. These signals are passed to a controller to
enable appropriate behavior.
 Sensors in robots are based on the functions of human
sensory organs. Robots require extensive information about
their environment in order to function effectively
 A robot‘s sensors provide information that can be used to infer
things about the world, about the robot, and about the robot‘ 5s
location in the world.
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 7.1.2 Manipulation
 Robotic manipulation refers to the ways robots interact with the
objects around them: grasping an object, opening a door, packing an
order into a box, folding laundry… All these actions require robots to
plan and control the motion of their hands and arms in an intelligent
way.
 A robot is a machine that is programmed to automatically perform
specific tasks predictably.
 To do this, it has to handle objects and either move them or
impact them through actions like welding or drilling. It is this
handling or procedures performed on an object that is referred to
as robotic manipulation.
 A robotic manipulator is an arm-like structure joined to the body of
a robot and is used to execute tasks.
 Robotic manipulators are also known as robot Prepare
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• Robot manipulators consist of a series of joints and links
fused in their interior structure.
• From the outside, the robotic manipulator arm only seems to
be mounted onto the robot.
• However, the series of joints and links go further into the
robot body to bind them. This ensures that the robot and the
manipulator work together in coordinated fluid motions
7.1.3 Human-robot interaction
Simply put human-robot interaction in the field of robotics deals
with the interaction between humans and robots.
There are several aspects to human-robot interaction, including
the interactions between humans and computers, artificial
intelligence, natural language processing, design, robotics, and
psychology. 7
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Human–robot interaction has been a topic of both science fiction
and academic speculation even before any robots existed.
Because much of active HRI development depends on natural
language processing, many aspects of HRI are continuations of
human communications, a field of research which is much older
than robotics.
Human-Robot Interaction (HRI) is a field of study dedicated to
understanding, designing, and evaluating robotic systems for use
by or with humans. Interaction, by definition, requires
communication between robots and humans.
Interaction can be separated into two general categories:
1. Remote interaction – The human and the robot are not co-
located and are separated spatially or even temporally (for
example, the Mars Rovers are separated from earth both
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2. Proximate interactions – The humans and the robots are co-
located (for example, service robots may be in the same room
as humans).
Within these general categories, it is useful to distinguish
between applications that require mobility, physical
manipulation, or social interaction.
 Remote interaction with mobile robots often is referred to as
teleoperation or supervisory control, and
 Remote interaction with a physical manipulator is
often referred to as telemanipulation.
 Proximate interaction with mobile robots may take the form
of a robot assistant, and proximate interaction may include a
physical interaction.
 Social interaction includes social, emotive, and cognitive
aspects of interaction. 9
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 7.2 Navigation and path planning
• Robot navigation means the robot's ability to determine its
own position in its frame of reference and then to plan a path
towards some goal location.
• In order to navigate in its environment, the robot or any
other mobility device requires representation
i.e. a map of the environment and the ability to
interpret that representation.
Navigation can be defined as the combination of the three
fundamental competences:
1. Self-localization
2. Path planning
3. Map-building and map interpretation
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• Robot localization denotes the robot's ability to establish
its own position and orientation within the frame of
reference.
• Path planning is effectively an extension of localization, in
that it requires the determination of the robot's current position
and a position of a goal location, both within the same frame
of reference or coordinates.
• Map building can be in the shape of a metric map or any
notation describing locations in the robot frame of
reference.
• Motion planning, also path planning (also known as
the navigation problem or the piano mover's problem) is
a computational problem to find a sequence of valid
configurations that moves the object from the source to
destination.
• The term is used in computational geometry, computer
animation, robotics, computer games.
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• Robotic mapping is a discipline related to computer
vision and cartography.
• The goal for an autonomous robot is to be able to construct
(or use) a map (outdoor use) or floor plan (indoor use) and to
localize itself and its recharging bases or beacons in it.
• Robotic mapping is that branch which deals with the study
and application of ability to localize itself in a map / plan and
sometimes to construct the map or floor plan by the
autonomous robot.
• Path planning is an important issue as it allows a robot to
get from point A to point B.
• Path planning algorithms are measured by their
computational complexity.
• The feasibility of real-time motion planning is dependent on
the accuracy of the map (or floor plan), on robot
localization
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 7.2.1 Autonomous robotic system
• Robotics and Autonomous Systems will carry articles
describing fundamental developments in the field of
robotics, with special emphasis on autonomous systems.
• An important goal of this journal is to extend the state of the
art in both symbolic and sensory based robot control and
learning in the context of autonomous systems.
• Robotics and Autonomous Systems will carry articles on
the theoretical, computational and experimental aspects of
autonomous systems, or modules of such systems.
• An autonomous robot is a robot that acts without recourse to
human control. The first autonomous robots environments
were known as Elmer and Elsie, which were constructed in the
late
1940s by W. Grey Walter.
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