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Robotics

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  • 1. Robotics A Topaz Team Presentation. By S.SathyaNarayanan
  • 2. Agent Robots  Physical sensors and effectors environment agent ? sensors effectors
  • 3. Sensors
    • Sensors that tell the robot position/change of joints: odometers, speedometers, etc.
    • Force sensing. Enables compliant motion--robot just maintains contact with object
    • Sonar. Send out sound waves and measure how long it takes for it to be reflected back. Good for obstacle avoidance.
    • Vision systems
  • 4. Effectors
    • Converts software commands into physical motion
    • Typically electrical motors or hydraulic/pneumatic cylinders
    • Two main types of effectors:
      • locomotion
      • manipulation
  • 5. Locomotion
    • Legs!
      • traditional (video: honda human)
      • Other types
        • Statically stable locomotion: can pause at any stage during its gate without falling
        • Dynamically stable locomotion: stable only as long as it keeps moving (video: hopper)
    • Still, wheeled or tread locomotion like Shakey is still most practical for typical environments
    • Other methods: reconfigurable robots, fish robots, snake-like robots. (video: mod-robot)
  • 6. Manipulation
    • Manipulation of objects
    • Typical manipulators allow for:
      • Prismatic motion (linear movement)
      • Rotary motion (around a fixed hub)
    • Robot hands go from complex anthromorphic models to simpler ones that are just graspers
      • (video: manipulation)
      • (video: heart surgery)
  • 7. Problems in Robotics
    • Localization and Mapping
    • Motion planning
  • 8.