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    robot robot Presentation Transcript

    • Robotics
    • What is your favorite robot?
      • Robby – Forbidden Planet
      • Robocop
      • Tobor
    • Find some good robotics videos.
      • Swimming fish:
        • http://privatewww.essex.ac.uk/~jliua/videogal.htm
      • Robot wars:
        • http://robogames.net/videos.php
        • http://www.metalmunchingmaniacs.com/combat-robot-videos.t
      • Japanese robots:
        • http://www.ecst.csuchico.edu/~renner/Teaching/Robotics/videos.html
        • http://www.plyojump.com/qrio.html
      • Miscellaneous robots:
        • http://www.roboticsonline.com/public/articles/articles.cfm?cat=298
    • “ A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.” (Robot Institute of America) Definition: Alternate definition: “ A robot is a one-armed, blind idiot with limited memory and which cannot speak, see, or hear.” What is a robot?
    • What are robots good at?
      • What is hard for humans is easy for robots.
        • Repetitive tasks.
        • Continuous operation.
        • Do complicated calculations.
        • Refer to huge data bases.
      • What is easy for a human is hard for robots.
        • Reasoning.
        • Adapting to new situations.
        • Flexible to changing requirements.
        • Integrating multiple sensors.
        • Resolving conflicting data.
        • Synthesizing unrelated information.
        • Creativity.
    • What tasks would you give robots?
      • Dangerous
        • Space exploration
        • chemical spill cleanup
        • disarming bombs
        • disaster cleanup
      • Boring and/or repetitive
        • Welding car frames
        • part pick and place
        • manufacturing parts.
      • High precision or high speed
        • Electronics testing
        • Surgery
        • precision machining.
    • What does building robots teach us about humans?
      • How do our sensors work?
        • eyes
        • brain
      • How do we integrate sensors?
      • How does our muscular-skeletal system work?
        • How do we grab and hold an object?
      • How does our brain process information?
      • What is nature of intelligence?
      • How do we make decisions?
    • What subsystems make up a robot?
      • Action
        • Stationary base
        • Mobile
      • Sensors
      • Control
      • Power supply
      Robert Stengel, Princeton Univ.
    • Action – do some function.
      • Actuators
        • pneumatic
        • hydraulic
        • electric solenoid
      • Motors
        • Analog (continuous)
        • Stepping ( discrete increments)
      • Gears, belts, screws, levers
      • Manipulations
    • Three types of robot actions.
      • Pick and place
        • Moves items between points.
      • Continuous path control
        • Moves along a programmable path
      • Sensory
        • Employs sensors for feedback
      • Simple joints (2D)
        • Prismatic — sliding along one axis
          • square cylinder in square tube
        • Revolute — rotating about one axis
      • Compound joints (3D)
        • ball and socket = 3 revolute joints
        • round cylinder in tube = 1 prismatic, 1 revolute
      • Degrees of freedom = Number of independent motions
        • 3 degrees of freedom: 2 translation, 1 rotation
        • 6 degrees of freedom: 3 translation, 3 rotation
      How do robots move?
    • Mobility
      • Legs
      • Wheels
      • Tracks
      • Crawls
      • Role
    • What sensors might robots have?
      • Optical
        • Laser / radar
        • 3D
        • Color spectrum
      • Pressure
      • Temperature
      • Chemical
      • Motion & Accelerometer
      • Acoustic
        • Ultrasonic
    • What use are sensors?
      • Uses sensors for feedback
        • Closed-loop robots use sensors in conjunction with actuators to gain higher accuracy – servo motors.
        • Uses include mobile robotics, telepresence, search and rescue, pick and place with machine vision.
    • Control - the Brain
      • Open loop, i.e., no feedback, deterministic
        • Instructions
        • Rules
      • Closed loop, i.e., feedback
        • Learn
        • Adapt