ENME 489L: Biologically Inspired Robotics
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1 ENME 489L: Biologically Inspired Robotics Satyandra K. Gupta and Arvind Ananthanarayanan Department of Mechanical Engineering and Institute for Systems Research University of Maryland
2 Course Introduction
3 Logistics Class Time: Tuesday and Thursday 2PM to 3:15PM Class Location: JMP Office Hours: Tuesday and Thursday 3:30PM to 5:00PM Course Instructor: Dr. Satyandra K. Gupta Phone: , Office: Room 2135 EGR Course Co-Instructor: Arvind Ananthanarayanan Phone: Office: Room 0124 EGR
4 Main Topics Fundamentals of Traditional Robots Fundamentals of Biologically Inspired Robots Design and Fabrication of Biologically Inspired Robots
5 Textbook Textbook and References J.J. Craig. Introduction to Robotics: Mechanics and Control. Prentice Hall; 3rd edition, Additional References G. A. Bekey. Autonomous Robots. MIT Press, Karl Williams. Amphibionics: Build Your Own Biologically Inspired Reptilian Robot. McGraw-Hill/TAB Electronics, David Cook. Robot Building for Beginners. Apress, 2002.
6 Homework, Exam, and Project 8 Homeworks (done individually) (20% of the overall grade) Projects (done in groups of 3) (40% of the overall grade) 1 Final Exam (40 % of the overall Grade)
7 Project
8 Goal Design a 4 legged bio-inspired robot (no wheels) that can perform the following function Travel on a straight line 25 times its body s largest dimension in two minutes or less Other information Main emphasis is on mechanical design to reproduce kinematics of a gait Use FDM to make structures Some programming is needed Use off-the-shelf motors
9 Robot Testing You will need to demonstrate your robot on two different surfaces Parking lot Carpeted floor The slop of the surface will be less than 5 degrees and the test will be done on the dry surface
10 Final Demonstrations The final project submission will consist of a written report describing the robot design, performance test results, manufacturing process description, and engineering drawings You will also need to submit Pro/Engineer models of your design
11 Main components Mechanical structure (created using FDM) Controller board (~ $25) Batteries (~ $20 to $30) Motors (~ $15 per motor) Department budget is $150 per robot
12 Samples of Robots Built in Spring 2007
13 Ant Robot
14 Beetle Robot
15 Crocobot
16 Fire Ant Robot
17 Ladybug Robot
18 Lizard Robot
19 Tiggerbot
20 Project Teams Team consisting of three students Team member names should be sent to by 6PM on Sunday February 3rd
21 Robotics Preliminaries
22 What is a robot? Origin: Karel Capek's play R.U.R. (1921) Czech: robota servitude, forced labor A machine (sometimes resembling a human being in appearance) designed to function in place of a living agent, esp. one which carries out a variety of tasks automatically or with a minimum of external impulse. - Oxford English Dictionary A reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks. - The Robot Institute of America Sony Qrio
23 Why Use Robots?
24 Why Use Robots? For tasks that are... Hazardous Repetitious Dexterous LAPD Bomb Squad Automated car painting Automotive welding Precise Inaccessible Circuit board manufacturing DaVinci robot for cardiothoracic surgery
25 Where Are Robots Being Used?
26 Robot Applications Assembly Automotive Welding Automotive Paining Space Applications Explosive Disposal Medical Entertainment Measurement and Inspection Machining Survey Reconnaissance
27 Robot Descriptors Stationary vs. mobile Manual vs. programmable vs. autonomous Remote operated vs. wired Payload size Speed of task or motion Work volume Number of degrees of freedom (DOF) Power consumption Lifetime
28 Stationary Robots Functions Gripping/translating Inspecting/measuring Operating/manipulating Applications Manufacturing - Machining - Assembling Medical devices Spacecraft Automobile manufacturing ISS and Endeavor handoff CMM CNC Mill M-850 Hexapod
29 Mobile Robots Mobile platforms, with other robots attached Primary function: locomotion Applications Transportation platform - Exploration - Reconnaissance - Surveillance Applications (continued) Consumer products Roomba vacuum Robomower Toys Honda Asimo NASA Mars rover Maridan 600 UUV Sony Aibo Remote controlled car
30 Examples of Bio-Inspired Robots
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