What is Robotics. Robotics is the science that studies robots and the technology that builds them

Transcription

1 What is Robotics 02CFIC CY Robotics is the science that studies robots and the technology that builds them Robotics started its development during WWII (Manhattan project) Robots (seen as an artificial beings) appeared in books and movies long before real applications Basilio Bona DAUIN Politecnico di Torino 002/1

2 Robotics 02CFIC CY Robotics is a multidisciplinary i li field mechanics (structures, ) electronics (sensors, actuators, t control boards, ) electrical engineering (motors, drives, power sources, ) information technologies (algorithms, OS, AI, ) advanced control communications but also material sciences and nanotechnology cognitive sciences, neurosciences human-machine interfaces ergonomy, safety biomimesis, ethology Basilio Bona DAUIN Politecnico di Torino 002/2

3 Robots 02CFIC CY Robots are artificial beings. Two types of artificial beings exist: Those that include biological material or parts capable of auto-organization Those that do not contain any biological parts Robots discussed here belong to the second type; they do not contain biological parts, but they may be able to move autonomously in a partially known environment interact with humans (supplying collaborative behavior) cooperate with other robots to execute specific tasks learn from a teacher or from their experience Basilio Bona DAUIN Politecnico di Torino 002/3

4 Robotics: a timeline 02CFIC CY 1) : 1942 robots are described d either in novels and plays or in science fiction stories (Frankenstein, RUR, Asimov, ) 2) 1945: tele-manipulators used for nuclear products processing 3) 1948: Grey Walter (UK) builds turtle robots Elmer and Elsie 4) 1956: Unimation is the first industrial robot firm 5) 1961: first robot on GM car lines Basilio Bona DAUIN Politecnico di Torino 002/4

5 Robotics: a timeline 02CFIC CY 6) 1970: SRI Shakey 7) 1975: PUMA manipulator 8) 1979: Stanford cart 9) 1999: Sony AIBO 7 10) 2000: Honda Asimo 11) 2004: Mars rovers Spirit & Opportunity 12) : DARPA Challenge Basilio Bona DAUIN Politecnico di Torino 002/5

6 Robots in the movies Metropolis (1927) Forbidden Planet (1956) 02CFIC CY Robocop (1987) Terminator (1984) Star Wars (1977) Robots are either good or bad Basilio Bona DAUIN Politecnico di Torino 002/6

7 A possible future scenario CY 02CFIC Object manipulation Autonomous motion Interaction with environment Basilio Bona DAUIN Politecnico di Torino 002/7

8 What we can expect in the near future 02CFIC CY Better to be prudent, considering some forecasting Heavier than air flying machines are impossible William Thomson, Lord Kelvin, 1895 Nuclear powered vacuum cleaners will probably be a reality within 10 years Alex Lewyt, President of the Lewyt tcorporation, 1955 There is no reason for any individual to have a computer in his home Ken Olson, President and fouder, Digital Equipment Corp., 1977 Basilio Bona DAUIN Politecnico di Torino 002/8

9 Europe and Robotics CY 02CFIC The European Robotics Platform EUROP anticipates three key sectors for research efforts Industrial Robotics Service Robotics Safety and Space Robotics Basilio Bona DAUIN Politecnico di Torino 002/9

10 Europe and Robotics 02CFIC CY Industrial Robots to achieve high-quality and cost-effective flexible manufacturing and logistics in all major industrial branches Gradually, these future robots will become the workers assistants serving them at the workplace. They will carry out the repetitive and strenuous parts of a worker s task and will increasingly safeguard workers from accidents and other relevant health care problems, thus alleviating the concerns of rising health care costs, particularly for small manufacturers. Basilio Bona DAUIN Politecnico di Torino 002/10

11 02CFIC CY Europe and Robotics Service Robots Service robots will be found in all domains of our future life. They represent not only a hope for a more convenient world but also a massive new market for high technology industries. This sector offers significant opportunities for European industry. Service robotics can be conveniently divided into in three market segments, that handle very different situations. Entertainment Professional Applications Domestic Use Basilio Bona DAUIN Politecnico di Torino 002/11

12 Security and Space Robots Europe and Robotics 02CFIC CY In the coming gy years, security enforcement will rely more and more on automated systems. In the first instance, civil security missions will include surveillance of critical infrastructure (telecommunication and power lines, water, gas and oil pipelines, etc.) and extended border and coastal patrol boosted by the shift of EU borders to the East and the need to monitor illegal immigration fluxes. In the longer term, other major application drivers will include maritime surveillance (traffic control and monitoring of ship movements, supervision of illegal fishery), crime monitoring, search and rescue operations, environmental monitoring (fire detection and fire fighting, oil spill discovery, etc.) and surveillance of hazardous materials. Basilio Bona DAUIN Politecnico di Torino 002/12

13 02CFIC CY Space Europe and Robotics The application of robotics in space is unique in that it forces the robot to operate without direct human assistance and acts as a platform for the projection of human capabilities to remote and hostile environments. Robotic applications in space fall into two categories: assembly/repair in space and planetary exploration: Assembly & Repair in Space Space-based robotic manipulators provide the basis for on-orbit servicing of satellites, through the replacement of equipment modules. Planetary Exploration Robots will become the personal assistants of astronauts. They will operate on distant planets, using high level directives, responding to and interacting with humans. They will be our agents of planetary surface and deep space exploration, handling the repetitive and time-consuming tasks of data collection and data reduction. Teams of robots will survey vast regions, and will classify geological features and formations and search for evidence of life. Basilio Bona DAUIN Politecnico di Torino 002/13

14 Possible future applications USA 02CFIC CY Research is mainly funded by DARPA - Defense Advanced Research Projects Agency Homeland security systems UAV: Unmanned Aerial Vehicles Autonomous vehicles for urban environment (DARPA challenge) Battlefield intervention systems Basilio Bona DAUIN Politecnico di Torino 002/14

15 Possible future applications USA 02CFIC CY In the days following 9/11 several robots were used for SAR (Search and Rescue) tasks Results were disappointing, but the lesson learned was important Better HMI/HCI Better operators training Sensors interchangeability Improved autonomy Physical configuration Basilio Bona DAUIN Politecnico di Torino 002/15

16 CY CFIDV 02CFIC CA 01C OBOTIC RO Military Applications Domestic applications Basilio Bona DAUIN Politecnico di Torino 002/16

17 Roboethics 02CFIC CY The focus of the TC includes 1. the unintended warfare uses of robotics research results 2. the preservation of human integrity in the interaction with robotic (even bionic) systems 3. and the study and development of the robot-ethics concept AA 2006/07 Basilio Bona DAUIN Politecnico di Torino 002/17

18 Possible future applications Japan Entertainment and aging people support robots 02CFIC CY Nurse 1 Nurse 2 AIBO falls Promet dances Basilio Bona DAUIN Politecnico di Torino 002/18

19 Possible future applications EU 02CFIC CY Service Robotics Home support for impaired or aged people (assistive robotics) Prosthesis and rehabilitation services Hospital logistic and physicians support Search and rescue Surveillance, cleaning, housekeeping Logistic support services Basilio Bona DAUIN Politecnico di Torino 002/19

20 CY CFIDV 02CFIC CA 01C OBOTIC RO AA 2006/07 Basilio Bona DAUIN Politecnico di Torino 002/20

21 To build future robots 02CFIC CY It is not sufficient to give them two arms and two legs a brain must be included Basilio Bona DAUIN Politecnico di Torino 002/21

22 02CFIC CY What is the difference between industrial and service/mobile robotics? Basilio Bona DAUIN Politecnico di Torino 002/22

23 Industrial robotics CY 02CFIC Industrial robotics: it is mainly focused on manipulation Traditional manufacturing sectors: handling, assembling, welding, packaging, painting, glue and seals deposition Growing diffusion in non traditional sectors (agricolture, clothing, food industry, small components mounting, pharmaceutical, etc.) Basilio Bona DAUIN Politecnico di Torino 002/23

24 CY CFIDV 02CFIC CA 01C OBOTIC RO Industrial robotics Basilio Bona DAUIN Politecnico di Torino 002/24

25 CY CFIDV 02CFIC CA 01C OBOTIC RO Industrial robotics Basilio Bona DAUIN Politecnico di Torino 002/25

26 Service robotics 02CFIC CY Mobile and service robotics: mainly focused on autonomous motion and sensor-based intelligence Surveillance, security Logistics and cleaning Domestic and assistive robotics for disabled/impaired/aged people Hospital services Natural disaster intervention Humanitarian demining, clearing up of contaminated or polluted areas Space exploration Underwater exploration Aerial reconnaissance others Basilio Bona DAUIN Politecnico di Torino 002/26

27 CFIDV CA 01C OBOTIC RO This course 02CFIC CY First industrial robotics Then service robotics AA 2006/07 Basilio Bona DAUIN Politecnico di Torino 002/27

28 Course Outline 02CFIC CY 3D mathematical representation: vectors, matrices, roto-translatins, etc. Direct and inverse kinematics Statics: forces and torques Dynamics: the model for simulation and control Robotica mobile Structures, sensors, algorithms Basilio Bona DAUIN Politecnico di Torino 002/28