ROBOTICS 01PEEQW Basilio Bona DAUIN Politecnico di Torino
What is Robotics? Robotics is the study and design of robots Robots can be used in different contexts and are classified as 1. Industrial robots 2. Humanoid & biomimetic robots 3. Service robots 4. Exploration robots 5. Service & exploration robots can be a) wheeled (rovers) b) flying (UAS,UAV, Quadcopters, etc.) c) legged There is a partial overlapping of these classes 2
What is Robotics? Definitions of Robot According to Robotics Institute of America A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed functions for the performance of a variety of tasks. Oxford American Dictionary A machine capable of carrying out a complex series of actions automatically, programmed by a computer Merriam-Webster Dictionary 1. A machine that looks and acts like a human being. 2. An efficient but insensitive person. 3. A device that automatically performs repetitive tasks. 4. Something guided by automatic controls 3
Robot The term robot, derived from the Slav term robota= executive labor, was introduced in 1920 by the Czech playwright Karel Čapek in the play Rossum s Universal Robots But the concept behind a robotappeared several years before any real robot was built 4
Timeline 5
Timeline 1818-1942: robots are described either in novels and plays or in science fiction stories (Frankenstein, RUR, Asimov, ) 6
Timeline 1945: tele-manipulators used for nuclear products processing 7
Timeline 1948: Grey Walter (UK) builds turtle robots Elmer and Elsie 8
Timeline 1956: Unimation is the first industrial robot firm 1961: first robot on GM car lines 9
Timeline 1970: SRI Shakey Shakey was the first mobile robot to reason about its actions. Developed by SRI's (Stanford Research Institute) Artificial Intelligence Center from 1966 through 1972. Shakey has had a substantial legacy and influence on present-day artificial intelligence and robotics. Shakey had a TV camera, a triangulating range finder, and bump sensors, and was connected to DEC PDP-10 and PDP-15 computers via radio and video links. Shakey used programs for perception, world-modeling, and acting. Low-level action routines took care of simple moving, turning, and route planning. Intermediate level actions strung the low level ones together in ways that robustly accomplished more complex tasks. The highest level programs could make and execute plans to achieve goals given it by a user. The system also generalized and saved these plans for possible future use. 10
Timeline 1975: PUMA manipulator 11
Timeline 1979: Stanford cart 12
Timeline 1999: Sony AIBO 13
Timeline 2000: Honda Asimo 14
Timeline 2004: Mars rovers Spirit & Opportunity 15
Timeline 2006-7: DARPA Challenge 16
Timeline 2015: DARPA Robotics Challenge 17
Timeline 2015: DARPA Robotics Challenge 18
Timeline 2015: DARPA Robotics Challenge 19
Timeline 2015: DARPA Robotics Challenge 20
Timeline 2017 21
Industrial robots Similar to human arms with wrist and a final hand for holding tools Rigid mechanical structure to guarantee accuracy and precision (repeatability) 5-6 (rarely 7) dof Internal (proprioceptive) joint sensors only *recent developments include vision sensors High payloads Reduction gears Well known and quasi-static environment Strict safety requirements Externally supplied power 22
Video 23
Video 24
Video 25
Video 26
Humanoid robots Similar to human body with a torso, two arms, two legs, 2-5 fingered hands Complex mechanical structure to guarantee stable bipedal motion Many dofs Internal and external sensors Low payloads Reduction gears or direct drives Unknown and changing environment: land only Limited autonomy Safety requirements TBD HMI and social acceptance issues 27
Examples from DRC 2013 28
Many onboard sensors 29
Examples 30
Future trends 31
Video 32
Video 33
Biomimetic robots Similar to animals, insects, fishes, birds, etc. May have more than two legs, no legs at all, wings, fins; can walk, crawl, swim, fly Internal and external sensors Low medium payloads, depending on structure No safety requirements Unknown and changing environment: sea, air, land 34
Service robots May have different motion structures: mostly wheeled (differential drives or 4-wheels), but UAVs are becoming popular Mechanical structure is important, but software is a critical issue Internal and external sensors Cameras (single, stereo 3D, ToF, omnidirectional) Laser scanners and Lidars Proximity sensors Special purpose, e.g., thermo-cameras Low to medium size payloads (according to use) HMI is important Unknown and changing environment: indoor (flat), outdoor (land, air, underwater) Privacy and legal issues important 35
UAVs Unmanned Aerial (or Autonomous) Vehicles are known due to their use as military drones, but now quadcopters are very common Civil applications are becoming important surveillance and patrolling of large structures and sites disaster area analysis; search and rescue (SAR) agricultural and environmental remote sensing leisure: commercial and filmmaking material transport Mainly outdoor, but indoor use is gaining interest Unknown environment Limited payload Limited autonomy (battery life is critical) and often tele-operated Mostly vision sensors (lightweight) Privacy and legal issues important Basilio Bona 36 ROBOTICS 01PEEQW - 2016/2017
Examples 37
Exploration robots Used for planetary or deep space exploration e.g., Spirit, Opportunity, Curiosity, future Moon and Mars rovers Some used for underwater or harsh environments (volcanoes, Antarctica exploration, etc.) Usually tele-operated, but partial autonomy necessary due to long time delays between Earth and Mars 38
Course content 1 Kinematic Chains: constitutive elements; KC types: open, closed; KC dofs: redundant, non redundant chains Industrial robot types: arms and wrists Kinematic chains: algorithms for fast computation of direct and inverse position and velocity kinematic functions Denavit-Hartenberg conventions and DH parameters Homogeneous matrices Jacobian matrices Statics: kineto-static relations Dynamics: Lagrange equations, general form for control Control algorithms: independent joints linear control, MIMO nonlinear control 39
Course content 2 Wheeled rovers structures, differential drive kinematics non-holonomy odometry issues Onboard sensors: some types will be briefly analyzed Mapping, localization and SLAM issues Path planning 40