EN407: Robotics. Dr. Rohan Munasinghe Dept. of Electronic and Telecommunication Engineering University of Moratuwa

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1 EN407: Robotics Dr. Rohan Munasinghe Dept. of Electronic and Telecommunication Engineering University of Moratuwa Course Information Scope The course provides a general introduction to the field of robotics, covering its history, evolution, applications and recent technological advancements. Reference Text Robin R. Murphy, Introduction to AI Robotics, PHI, MIT Press, 2000 Prerequisites Mechanics, Linear algebra, MatLab Evaluation: 40% (mini projects) 20% tutorials 40% (final) Course web: TA: Upeka Premarathna upeka@ent.mrt.ac.lk (ext 3326) Note: we will be using MatLab Robotics ToolBox for lab classes

2 Course Contents Background Mechanical manipulation Manipulator control Robot sensors. Robot system Design Mobile Robots Robot Intelligence How to Identify a Robot 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 (RIA 1970) An automatic device that performs functions normally ascribed to humans or a machine in the form of a human (Webster 1993) A piece of machinery that could perform tasks which are generally ascribed to humans Voice recognition, speech synthesis, obstacle avoidance, face recognition, etc..

History of Robots and Robotics The word robot first appeared in a Czeck stage

means forced labor The word robotics first appeared in the science fiction

Robotics is the science and engineering of using robots.

1960s First modern master-slave teleoperator by Ramond Goertz at Argonne

antograph mechanism In 1954 electrical servomechanisms replaced direct

First legged robot, Stanford Research 3000lb, four-legged, walk 4miles/h

3 History of Robots and Robotics The word robot first appeared in a Czeck stage play Rossum s Universal Robots by Karel Capek in 1921 The Czeck word robot means forced labor The word robotics first appeared in the science fiction Runaround by Issac Asimov in Robotics is the science and engineering of using robots. Very Early Robots and Applications 1940s Gray Walter s tortoise 1960s s First modern master-slave teleoperator by Ramond Goertz at Argonne National Lab, USA for handling radioactive materials in a hot-cell using a antograph mechanism In 1954 electrical servomechanisms replaced direct mechanical linkages General Electric s walking truck Ralph Moser. First legged robot, Stanford Research 3000lb, four-legged, walk 4miles/h Institute s Shakey 1960s Force reflection and head-mounted devices for remote camera control. Mosher s Handyman Masterslave electro-hydraulic manipulator, General Electric Co. 2 hands, 10dof

1960s Telemanipulators and video cameras (USA, USSR, France) Retrieval of an accidentally dropped nuclear bomb from

Commands are taken from the tongue, or other remaining motor signals to actuate wheelchairs, prosthetic arms, etc.

1970: first remotely controlled moon rover Lunakhod (USSR). 11km in 11months Teleoperation in undersea applications.

offshore oil using Devol and Joe Engleberger, small unmanned remote-controlled the father of robotics.

France ERIC, - picks and place parts and Hawaii Undersea Research - CAD/CAM systems Laboratory RCV150 http://www.soest.

html Factory Roboticization The major reasons for the growth in the use of industrial robots are their Declining cost

4 1960s Telemanipulators and video cameras (USA, USSR, France) Retrieval of an accidentally dropped nuclear bomb from the deep ocean by cable controlled underwater research vehicle (CURV) s Teleoperators for welfare. Commands are taken from the tongue, or other remaining motor signals to actuate wheelchairs, prosthetic arms, etc.. (Aaron Kobrinski, Moscow 1970 Race to the moon. Time delay and stability problem (Ferrel 1965, move-and-wait). 1970: first remotely controlled moon rover Lunakhod (USSR). 11km in 11months Teleoperation in undersea applications. 1970s Unimate, the first industrial A cheaper and safer substitution for robot developed by George divers in searching offshore oil using Devol and Joe Engleberger, small unmanned remote-controlled the father of robotics. submarines with video. France ERIC, - picks and place parts and Hawaii Undersea Research - CAD/CAM systems Laboratory RCV150 s.html Factory Roboticization The major reasons for the growth in the use of industrial robots are their Declining cost Human labor continues to become expensive Manual work within hazardous environments is slow and expensive Becoming faster, more accurate, more capable, and more flexible (re-programmability) Reprogrammability for a variety of jobs (welding, painting..) Deployability for tasks that might be dangerous, or impossible for human workers to perform

Hard Automation and Soft Automation Small volumes use manual labor volume є [v1,v2] use robots volume > v2 go for hard automation Industrial robots are mostly used for welding or material handling

The distinction between a robot and a factory machines (such as NC machines) lies somewhere in the sophistication of the programmability of the device.

5 Hard Automation and Soft Automation Small volumes use manual labor volume є [v1,v2] use robots volume > v2 go for hard automation Industrial robots are mostly used for welding or material handling (78%), and assembly tasks (10%) according to the US statistics in year The distinction between a robot and a factory machines (such as NC machines) lies somewhere in the sophistication of the programmability of the device. Robots can be reprogrammable to perform a wide variety of tasks, whereas factory machines, which are generally limited to one class of tasks (fixed automation) Streams of Robotics Research Mobile Robotics Realtime obstacle avoidance Telerobotics Micromanipulation Polybots (modular reconfigurable Robots) Medical robotics (telesurgery) Planetary exploration robots Micromechanical flying robots Climbing robots Milibots, millibot teams Soccer playing robots Walking machines Service and care-giving robots Robotic prosthetic limbs Exploration and mapping robots Grasping Biomimetic robots Expressive Robotic creatures Bipedal walking Entertainment robots Military

Realtime Obstacle Avoidance For robots to be able to inhabit human-populated dynamic environments such as offices, hotels, hospitals, etc.. Classical Potential Field O. Khatib, RI, Stanford Univ.

6 Realtime Obstacle Avoidance For robots to be able to inhabit human-populated dynamic environments such as offices, hotels, hospitals, etc.. Classical Potential Field O. Khatib, RI, Stanford Univ., USA Velocity Dipole Field S. R. Munasinghe Univ. of Moratuwa, SL Deliberative Behavior and Reactive Behavior (imagine how humans walk to the destination avoiding obstacles getting on the way) Telerobotic System Layout

7 Japan (LC) Local Controller Korea (RS) Remote Supervisor Telerobotic Minigolf Supervisory Control Task Resolved Motion Control 3 joints by the RS 2joints by the LC Master-Slave Teleoperation Ground-Space Teleoeration

8 Biotechnology Microsurgery Microassembly Microchips Micromanipulation Polybots Modular Reconfigurable Robots

9 Medical Robotics Minimum Invasive Surgery (MIS)

10 Planetary Exploration Robots Obstacle Avoidance Spirit moves on Mars Micromechanical Flying Insects

11 Miniature Climbing Robots Millibots Soccer Playing Robots

12 Walking Machines Service and Care-giving Robots

13 Robotic Prosthetic Limbs Exploration and Mapping Robots

Grasping Biomimetic Robots Extracting principles from biology and applying them to man-made devices,

Uses nature s evolved way of doing things instead of adopting algorithmic-intense AI cockroaches can run over

be impractical. And, besides, who would want one?

14 Grasping Biomimetic Robots Extracting principles from biology and applying them to man-made devices, particularly robots. Uses nature s evolved way of doing things instead of adopting algorithmic-intense AI cockroaches can run over obstacles without slowing down, or knocking off the course We are not trying to copy a cockroach, which would be impractical. And, besides, who would want one? How birds fly, how fish swim, and how humans walk can best be discovered by trying to reproduce these activities in a device The knowledge gained might not be immediately useful. But it could some day lead to useful technologies based on, not necessarily mimicking these phenomena

15 Expressive Robotic Creatures Bipedal Walking and Humanoids New bipedal walking robots developed on simple techniques Honda Asimo runs at 3km/h (Dec. 2004) Is it human-like walking?

16 Humanitarian and Military CMU countermine robot can identify buried landmines. Uses ground penetrating radar for identifying underground utilities

Course Details. Robotics is Interdisciplinary. Brief History of Robotics. Lecture 01 Robotics. Robotics 70% (WE) - 30% (CA)

Course Details. Robotics is Interdisciplinary. Brief History of Robotics. Lecture 01 Robotics. Robotics 70% (WE) - 30% (CA) Course Details Lecture 01 Robotics 70% (WE) - 30% (CA) Contents : Overview of Robotics, Robot Manipulator Modeling (kinematics), Robot Control (position and force), obstacle avoidance (mobile robots) MatLab