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1_1 Introduction to Robotics.ppt
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- 3. A Robot is: An electromechanical device that is: •Reprogrammable •Multifunctional •Sensible for environment 3
- 4. What is a Robot: I Manipulator 4
- 5. What is a Robot: II Wheeled Robot Legged Robot 5
- 6. What is a Robot: III Unmanned Aerial Vehicle Autonomous Underwater Vehicle 6
- 7. What Can Robots Do: I 7 Decontaminating Robot Cleaning the main circulating pump housing in the nuclear power plant Jobs that are dangerous for humans
- 8. What Can Robots Do: II 8 Repetitive jobs that are boring, stressful, or labor- intensive for humans Welding Robot
- 9. What Can Robots Do: III 9 The SCRUBMATE Robot Manual tasks that human don’t want to do
- 10. “Robot” coined by Karel Capek in a 1921 science-fiction Czech play The play begins in a factory that makes artificial people called robots, creatures who can be mistaken for humans – very similar to the modern ideas of androids. Karel Čapek himself did not coin the word. He wrote a short letter in reference to an etymology in the Oxford English Dictionary in which he named his brother Josef Čapek as its actual originator.
- 11. “A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.” (Robot Institute of America) Definition: Alternate definition: “A robot is a one-armed, blind idiot with limited memory and which cannot speak, see, or hear.” MIT’s Kismet: a robot which exhibits expressions, e.g., happy, sad, surprise, disgust.
- 12. Robotics is an interdisciplinary research area at the interface of computer science and engineering. Robotics involves design, construction, operation, and use of robots. The goal of robotics is to design intelligent machines that can help and assist humans in their day-to-day lives and keep everyone safe. Robotics draws on the achievement of information engineering, computer engineering, mechanical engineering, electronic engineering and others. Robotics develops machines that can substitute for humans and replicate human actions. Robots can be used in many situations and for many purposes, but today many are used in dangerous environments (including inspection of radioactive materials, bomb detection and deactivation), manufacturing processes, or where humans cannot survive (e.g. in space, underwater, in high heat, and clean up and containment of hazardous materials and radiation).
- 13. Robots can take on any form but some are made to resemble humans in appearance. This is said to help in the acceptance of a robot in certain replicative behaviors usually performed by people. Such robots attempt to replicate walking, lifting, speech, cognition, or any other human activity. Many of today's robots are inspired by nature, contributing to the field of bio-inspired robotics. Fully autonomous robots only appeared in the second half of the 20th century. The first digitally operated and programmable robot, the Unimate, was installed in 1961 to lift hot pieces of metal from a die casting machine and stack them. Commercial and industrial robots are widespread today and used to perform jobs more cheaply, more accurately and more reliably, than humans. They are also employed in some jobs which are too dirty, dangerous, or dull to be suitable for humans.
- 14. Robots are widely used in manufacturing, assembly, packing and packaging, mining, transport, earth and space exploration, surgery, weaponry, laboratory research, safety, and the mass production of consumer and industrial goods.
- 15. Robots: An Introduction • A robot can be defined as a computer controlled machine with some degrees of freedom • that is, the ability to move about in its environment • A robot typically has • sensors to sense its environment, particularly to make sure it does not hit any obstacles in its way • goals (otherwise there is no need to have the robot) • planning to determine how to accomplish those goals • some robots are pre-programmed with the plan steps to carry out the given goals so planning is not needed • path planning to determine how to move about its environment using the available degrees of freedom • this may be the motion of an arm to pick something up or it may be a series of movements to physically move it from location 1 to location 2 • The robot usually has a 3-phase sequence of operations: sense (perception), process (interpretation and planning), action (movement of some kind)
- 16. Types of Robots • Mobile robots – robots that move freely in their environment • We can subdivide these into indoor robots, outdoor robots, terrain robots, etc based on the environment(s) they are programmed to handle • Robotic arms – stationary robots that have manipulators, usually used in construction (e.g., car manufacturing plants) – These are usually not considered AI because they do not perform planning and often have little to no sensory input • Autonomous vehicles – like mobile robots, but in this case, they are a combination of vehicle and computer controller • Autonomous cars, autonomous plane drones, autonomous helicopters, autonomous submarines, autonomous space probes • There are different classes of autonomous vehicles based on the level of autonomy, some are only semi-autonomous
- 17. Continued • Soft robots – robots that use soft computing approaches (e.g., fuzzy logic, neural networks) • Mimicking robots – robots that learn by mimicking – For instance robots that learn facial gestures or those that learn to touch or walk or play with children • Softbots – software agents that have some degrees of freedom (the ability to move) or in some cases, software agents that can communicate over networks • Nanobots – theoretical at this point, but like mobile robots, they will wander in an environment to investigate or make changes – But in this case, the environment will be microscopic worlds, e.g., the human body, inside of machines
- 18. Current Uses of Robots • There are over 3.5 million robots in use in society of which, about 1 million are industrial robots • 50% in Asia, 32% in Europe, 16% in North America • Factory robot uses: • Mechanical production, e.g., welding, painting • Packaging – often used in the production of packaged food, drinks, medication • Electronics – placing chips on circuit boards • Automated guided vehicles – robots that move along tracks, for instance as found in a hospital or production facility • Other robot uses: • Bomb disabling • Exploration (volcanoes, underwater, other planets) • Cleaning – at home, lawn mowing, cleaning pipes in the field, etc • Fruit harvesting
- 19. ≈250 B.C. - Ctesibius, an ancient Greek engineer and mathematician, invented a water clock which was the most accurate for nearly 2000 years. ≈60 A.D. – Hero of Alexandria designs the first automated programmable machine. These 'Automata' were made from a container of gradually releasing sand connected to a spindle via a string. By using different configurations of these pulleys, it was possible to repeatably move a statue on a pre-defined path. History of Robotics - The Origins of Robots ROBOTICS
- 20. ≈ 1250 - Bishop Albertus Magnus holds banquet at which guests were served by metal attendants. Upon seeing this, Saint Thomas Aquinas smashed the attendants to bits and called the bishop a sorcerer. 20 1640 - Descartes builds a female automaton which he calls “Ma fille Francine.” She accompanied Descartes on a voyage and was thrown overboard by the captain, who thought she was the work of Saitan. History of Robotics - The Origins of Robots
- 21. 1738 - Jacques de Vaucanson builds a mechanical duck made of more that 4,000 parts. The duck could quack, bathe, drink water, eat grain, digest it and void it. Whereabouts of the duck are unknown today. 1805 - Doll, made by Maillardet, that wrote in either French or English and could draw landscapes. 21 History of Robotics - The Origins of Robots
- 22. History of Robotics - The Origins of Robots 1898 - The first radio-controlled submersible boat was invented by Nikola Tesla. 1921 - The term "robot" was first used in 1920 in a play called "R.U.R." Or "Rossum's universal robots" by the Czech writer Karel Capek. The plot was simple: man makes robot then robot kills man! Many movies that followed continued to show robots as harmful, menacing machines. Robot comes from the Czech word robota, which means “servitude, forced labor.” 22
- 23. 1940 - Sparko, the Westinghouse dog, uses both mechanical and electrical components. 1941 - Isaac Asimov introduced the word 'Robotics' in the science fiction short story 'Liar!‘ 1948 - William Grey Walter builds Elmer and Elsie, two of the earliest autonomous robots with the appearance of turtles. The robots used simple rules to produce complex behaviors. Cybernetics is a discipline that was created in the late 1940’s by Norbert Wiener, combining feedback control theory, information sciences and biology to try to explain the common principles of control and communications in both animals and machines. History of Robotics 23
- 24. 1950`s - Computer technology advances and control machinery is developed. Questions Arise: Is the computer an immobile robot? 1954 - The first silicon transistor was produced by Texas Instruments. 1954 – George Devol replaced the slave manipulator in a teleoperator with the programmability of the CNC controller, thus creating the first “industrial robot”, called the “Programmable Article Transfer Device”. History of Robotics 24
- 25. 25 1955 – The Darmouth Summer Research Conference marks the birth of AI. Marvin Minsky, from the AI lab at MIT defines an intelligent machine as one that would tend to “build up within itself an abstract model of the environment in which it is placed. If it were given a problem, it could first explore solutions within the internal abstract model of the environment and then attempt external experiments”. This approach dominated robotics research for the next 30 years. 1956 - Researchers aim to combine “perceptual and problem- solving capabilities,” using computers, cameras, and touch sensors. The idea is to study the types of intelligent actions these robots are capable of. A new discipline is born: A.I. History of Robotics
- 26. 1956 - Joseph Engleberger, a Columbia physics student buys the rights to Devol’s robot and founds the Unimation Company. 1956 - George Devol applied for a patent for the first programmable robot, later named 'Unimate'. 1957 - Launch of the first artificial satellite, Sputnik 1. 26 History of Robotics
- 27. • 1960`s - Industrial Robots created. Robotic Industries Association states that an “industrial robot is a re-programmable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through variable programmed motions to perform a variety of tasks”. Robot Institute of America, 1979 History of Robotics 27
- 28. • 1961 - The first Unimate robot is installed in a Trenton, NJ General Motors plant to tend a die casting machine. The key was the reprogrammability and retooling of the machine to perform different tasks. The Unimate robot was an innovative mechanical design based on a multi- degree of freedom cantilever beam. The beam flexibility presented challenges for control. Hydraulic actuation was eventually used to alleviate precision problems. • 1962 – 1963 – The introduction of sensors is seen as a way to enhance the operation of robots. This includes force sensing for stacking blocks (Ernst, 1961), vision system for binary decision for presence of obstacles in the environment (McCarthy 1963), pressure sensors for grasping (Tomovic and Boni, 1962). Robot interaction with an unstructured environment at MIT’s AI lab (Man and Computer – MAC project). History of Robotics 28
- 29. • 1965 - Gordon E. Moore introduces the concept 'Moore's law', which predicts the number of components on a single chip would double every two years. • 1966 – 1968 'Shakey‘, a mobile robot is developed by SRI (Stanford Research Institute). 'Shakey' was capable of planning, route-finding and moving objects. It was placed in a special room with specially colored objects. A vision system would recognize objects and pushed objects according to a plan. This planning software was STRIPS, and it maintained and updated a world model. The robot had pan/tilt and focus for the camera, and bump sensors. • 1968 – Kawasaki Heavy Industries in Japan acquires a license for Unimate. • 1969 - The Apollo 11 mission, puts the first man on the moon. Landing was made inside the Lunar Module 'Eagle'. 29 History of Robotics
- 30. • 1970 - Luna 17 lands on the moon, carrying the roving remote- controlled robot, Lunokhod 1. • 1971 - Intel introduce the first commercially available microprocessor, the 4004. • 1971 -1973 – The Stanford Arm is developed, along with the first language for programming robots - WAVE. • 1972 – First snake-like robot – ACM III – Hirose – Tokyo Inst. Of Tech. • 1970’s – JPL develops its first planetary exploration Rover using a TV camera, laser range finder and tactile sensors. • 1975 - The space probes Viking 1 and 2 were launched each with an articulated robot arm. • 1976 - The film Star Wars is released introducing R2-D2 and C- 3PO. 30 History of Robotics
- 31. • 1977 – Development of mobile robot Hilaire at Laboratoise d’Automatique et d’Analyse des Systemes (LAAS) in Toulouse, France. This mobile robot had three wheels and it is still in use. Two famous robots: • 1978- Puma (Programmable Universal Machine for Assembly), by Unimation. • 1979 - SCARA (Selective Compliant Articulated Robot for Assembly) introduced in Japan and the US (by Adept Technologies). 31 History of Robotics
- 32. History of Robotics - PUMA 32
- 33. History of Robotics - SCARA 33
- 34. 34 • 1980’s – Innovation in improving the performance of robot arms – feedback control to improve accuracy, program compliance, the introduction of personal computers as controllers, and commercialization of robots by a large number of companies: KUKA (Germany), IBM 7535, Adept Robot (USA), Hitachi, Seiko (Japan). • Early 1980’s – Multi-fingered hands developed, Utah-MIT arm (16 DOF) developed by Steve Jacobsen, Salisbury’s hand (9 dof). • 1977-1983 – Stanford cart/CMU rover developed by Hans Moravec, later on became the Nomad mobile robot. History of Robotics
- 35. • 1980’s – Legged and hopping robots (BIPER – Shimoyama) and Raibert 1986. • 1984 -1991 – V. Braitenberg revived the tortoise mobile robots of W. Grey Walter creating autonomous robots exhibiting behaviors. Hogg, Martin and Resnick at MIT create mobile robots using LEGO blocks (precursor to LEGO Mindstorms). Rodney Brooks at MIT creates first insect robots at MIT AI Lab – birth of behavioral robotics. 35 History of Robotics
- 36. • 1986 - Honda starts work on its first humanoid, robot named 'E0' (later to become ASIMO). • 1988 - SCAMP designed as the first robot pet with emotions. • 1989 - Mark Tilden introduces BEAM robotics, beam being an acronym for Biology, Electronics, Aesthetics, and Mechanics. • ‘90: modifiable robots for assembly. Mobile autonomous robots. Vision controlled robots. Walking robots. • 1991 - First HelpMate mobile autonomous robot used in hospitals. 36 History of Robotics
- 37. • 1990’s – Humanoid robots – Cog, Kismet (MIT), Wasubot, WHL-I – Japan, Honda P2 (1.82m, 210kg), and P3 (1.6m, 130kg), ASIMO. • 1990’s – Entertainment and Education Robots – SARCOS (“Jurassic Park”), Sony AIBO, LEGO Mindstorms, Khepera, Parallax. • ROBOCUP, the competition simulating the game of soccer played by two teams of robots having been held around the world since 1997 (Osaka) . 37 History of Robotics
- 38. •1997 - Sojourner becomes the first rover to land on Mars as part of the Mars Pathfinder mission. •1998 - Lego enters the robotics market with its first version of Lego Mindstorms. •1999 - Sony introduces AIBO, an autonomous robotic dog capable of seeing, walking and interacting with its environment. This was followed a year later by the SDR-3X humanoid robot later known as QRIO (both discontinued in 2006). 38 History of Robotics
- 39. • 1990’s – Introduction of space robots (manipulators as well as rovers – the MARS rover 1996), parallel manipulators (Stewart-Gough Platforms), multiple manipulators, precision robots (“Robotworld”), surgical robots (“RoboDoc”), first service robots (as couriers in hospitals, etc) 39 History of Robotics
- 40. • 2000 - Honda unveils ASIMO, the first non-prototype release of its humanoid robot. • 2001 - US Air force test the MQ-1 Predator, the first armed unmanned aerial vehicle (UAV) fitted with two Hellfire missiles. • 2000’s – IRobot introduces the first autonomous vacuum – “Roomba”. • 2000’s – Mini and micro robots, “Smart Dust” – Pister @ Berkeley, UTA, EPFL/Lausanne, microfactories. 40 History of Robotics
- 41. • 2000’s – Military applications - Robotic assistants for dangerous environments and reconnaissance, AUV’s and UUV’s, etc. • 2000’s – Intuitive Surgical introduces the Da Vinci surgical robot. • 2000’s – Robotic Deployment of Sensor Networks 41 History of Robotics
- 42. History of Robotics Lunokhod 1 Intel 4004 R2-D2 and C-3PO Asimo Sojourner Lego Mindstorms 42
- 43. • 2002 - iRobot introduces Roomba, a personal robotic vacuum cleaner. • 2003 - Osaka University unveils their first 'Actroid', the term given for a humanoid robot with strong visual human characteristics. • 2004 - The first DARPA Grand challenge is help. Sponsored by the US department of defence, the challenge is designed to create autonomous vehicles for warfare. • 2004 - The Mars rovers Spirit and Opportunity land on Mars. As of November 25th 2009 The rover Spirit has completed 2150 days of its 92 day (90 sol) mission. • 2010 - NASA and General Motors join forces to develop Robonaut-2, the new version of NASA's humanoid robot astronaut. 43 History of Robotics
- 44. History of Robotics Actroid Mars Exploration Rover Robonaut-2 44
- 45. Should robots look like humans? “anthropomorphic or humanoid robots”. Need for these machines to also be intelligent - link to “Artificial Intelligence (AI)”. Need for humans to create machines similar to them is rooted in religious beliefs, recommended reading “God in the Machine” by Anne Foerst It is not the appearance of the robot that most connects it to humans: HAL in “Space Odyssey 2001”, Lt. Data in “Startrek- TNG”, R2D2 and C3PO in “Star Wars”. Which one is more “likeable” and why? History of Robotics 45
- 46. Robots need not look like humanoids, but they make use of: Strong & precise articulated arms to accomplish tasks that were performed by humans – “articulated robots”, or “manipulators”. Fear that they will replace human laborers. Use of mobility to reposition the robot from one location to another, “mobile robots”. This can be done by locomotion like humans do (“legged robots”), but most likely it will use other means such as wheels (“wheeled robots”). History of Robotics 46
- 47. So What is a Robot? 47