Introduction to Robotics ENGR 450 Robotics First Day

Introduction to Robotics ENGR 450 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? Let’s 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 Capek–Rossum’s 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 -50’s 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 50’s, I don’t know

Forbidden Planet 1 9 5 6!

Lost in space 1960’s TV series

Silent Running 1971 Bruce Dern Hewey, Dewey and Louie

1977

Saturn 3 - 1980

1984 Huh?

Metropolis 1927

Short Circuit 1986

Robot. Cop 1987

1993 3 D 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

What’s the problem? Why not more examples of functional robots? What aren’t 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 Sony Qiro $40, 000

What’s 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 (cont’d) • Use Discussion Board section in Black. Board • Bonus 10 points for finding a working robot I have never heard of (I’ll be fair) • You are prohibited from using – the robots in this slide show or – Already used by classmate • Do this by Friday – I’ll share results