This document discusses the key components of robots and the technologies involved. It outlines that robots are generally made up of links, actuators, sensors, and controllers. It also describes some of the physical limitations in sensor and actuator technologies that robots face. Additionally, it provides examples of different sensor options like rotation sensing, passive optical sensing, time of flight ranging, and inertial measurement. The document concludes by listing various types of actuators used in robots.

1. BUILDING ROBOTS-Lecture
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2. COMPONENTS OF A ROBOT
 A Robot is mainly made of four basic
components.
Links
Actuators
Sensors
Controllers

3. COMPONENTS OF A ROBOT
 Links
typically rigid bodies
 Actuators
connect and move links
 Sensors
perceiving the world
 Other
endeffectors, communication, etc.

4. PROBLEMS FACED
 Physical limitations
 Sensor technology
Actuator technology
Power consumption
 Design issues
General structure
 mobile, underwater, aerial, fullbody, torso, single arm
 Interaction modality
 facial expression, endeffector type
Level of articulation

5. SENSOR OPTIONS

6. ROTATION SENSING
 Potentiometers
Variable resistors
 optical encoders

7. PASSIVE OPTICAL SENSING
 Light sensor
 Single camera (robot color blob)
 Stereo vision

8. TIME OF FLIGHT RANGING
 Active emission of
infrared
ultrasonic
light arrays
Laser
 Measure distance to closest obstacle by time
for emission to reflect and return to sensor

9. INERTIAL MEASUREMENT
 Gyroscopes
angular velocity
 Accelerometers
gravitational vector
 Magnetometers/compass
magnetic field vector

10. ACTUATOR TYPES
 Electro-magnetic
 Hydraulic
 Pneumatic
 Shape memory alloys
 Piezoelectric
 Photo reactive
 Chemical reactive

11. For more details
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http://www.scribd.com/pantechsolutions
http://www.youtube.com/pantechsolutions