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
- Slides: 71
