The document discusses trends in robotics and provides examples of robot systems developed by ETH Zurich's Autonomous Systems Lab. It summarizes technologies disrupting industries like microelectronics, computing, and robotics. It then highlights examples of mobile robots, aerial vehicles, and navigation systems created at the lab. It concludes with potential application fields for robotics and Zurich's role as a hub for robotics research.

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Autonomous Systems Lab
Roland Siegwart, ETH Zurich
www.asl.ethz.ch
www.wysszurich.ch
Zurich, June 21, 2016
21.06.2016Roland Siegwart 1
Status quo and Trends of Robotics
Shaping the future

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Autonomous Systems Lab
Introduction | Digitalization and Recent Direction in Robotics
Robot Systems | Examples from ASL/RSL at ETH Zurich
Mobile Robot Navigation | from Perception to Autonomous Navigation
Application Fields and Conclusion
21.06.2016Roland Siegwart 2
Content

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Autonomous Systems Lab
Microelectronics / Computing
Internet / Information
Mobile Devices / Connectivity
Robotics / Intelligent Systems
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Technologies Disrupting Services | digitalization / industry 4.0

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Autonomous Systems Lab
Microelectronics / Computing
Internet / Information
Mobile Devices / Connectivity
Robotics / Intelligent Systems
21.06.2016Roland Siegwart 7
Technologies Disrupting Services | digitalization / industry 4.0
Physically Interacting
Machines
→ exponential increase
of complexity

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Autonomous Systems Lab 21.06.2016Roland Siegwart 8
Robotics today (Tesla) https://www.youtube.com/watch?v=8_lfxPI5ObM

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Autonomous Systems Lab 21.06.2016Roland Siegwart 10
Next generation of Robots
| mobile, smart, connected, adaptive and closer to humans
Cyborgs
Service and
Personal Robots
Industrial Robots

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Autonomous Systems Lab
Complex machines
with high added value
21.06.2016Roland Siegwart 12
Fascinating Robotics
DARPA Robotics Challenge
07.06.2015,
Team NEDO-JSK, Japan
12 x original speed!!
Spot | hydraulic quadruped
OceanOne | Humanoid Underwater Robot
https://www.youtube.com/watch?v=M8YjvHYbZ9w
https://www.youtube.com/watch?v=8P9geWwi9e0
https://www.youtube.com/watch?v=p1HmgP9l4VY

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Autonomous Systems Lab 21.06.2016Roland Siegwart 16
“Soft Robots” | torque / force controlled robots
lightweight robot
BaxterYuMi
ANYbotics

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Autonomous Systems Lab 21.06.2016Roland Siegwart 18
Mobile Platforms
ANYbotics

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Autonomous Systems Lab
Mission and Dedication
To create intelligent robots and systems that operate
autonomously in complex and dynamic environments.
Research Focus
Novel robot concepts that are best adapted for ground, air, or
water based applications.
New algorithms for perception, localization, abstraction, mapping,
and path planning that will enable autonomous operation in
challenging environments.
21.06.2016Roland Siegwart 24
Autonomous Systems Lab
Institute of Robotics and Intelligent Systems
Prof. Dr. Roland Siegwart

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Autonomous Systems Lab
Design of
Rolling, Swimming, Walking and Flying Robots
21.06.2016Roland Siegwart 26

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Autonomous Systems Lab
rezero (2010)
| the ball balancing robot
https://www.youtube.com/watch?v=ACohrH64YKs
BeachBot (2014, with Disney)
| the beach artist
https://www.youtube.com/watch?v=eBRrQBPtdak
Vertigo (2015 with Disney)
| the ultimate wall climber
https://www.youtube.com/watch?v=KRYT2kYbgo4
Scalevo (2015)
| the stair-climbing wheelchair
https://www.youtube.com/watch?v=3lb_8nmy90c
Ultimate Rolling Robots – designed by students
Roland Siegwart 21.06.2016 32

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Autonomous Systems Lab
Quadruped Legged Locomotion
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ANYbotics

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Autonomous Systems Lab
http://www.youtube.com/watch?v=Jql6TSyudFE
42
Efficient Walking and Running |
what nature evolved (Extreme Jumpy Dog)
21.06.2016Roland Siegwart

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Autonomous Systems Lab Roland Siegwart 43
Efficient Walking
and Running | serial elastic actuation
21.06.2016
https://www.youtube.com/watch?v=6igNZiVtbxU

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Autonomous Systems Lab
High mobility
“to go where today only humans can go”
10 kg of payload
2 h of continuous operations
21.06.2016Roland Siegwart 48
ANYmal
an electrically actuated dog for real-world scenarios Prof. Marco Hutter
https://www.youtube.com/watch?v=EI1zBTYpXW0

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Autonomous Systems Lab
Helicopters:
< 20 minutes
Highly dynamic and agility
Fixed Wing Airplanes:
> some hours; continuous flights possible
Non-holonomic constraints
Blimp: lighter-than-air
> some hours (dependent on wind conditions);
Sensitive to wind
Large size (dependent on payload)
Flapping wings
< 20 minutes; gliding mode possible
Non-holonomic constraints
Very complex mechanics
50
UAV (Unmanned Aerial Vehicles) | flight concepts
21.06.2016Roland Siegwart
Festo BionicOpter

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Autonomous Systems Lab
Reely (2009 – with Disney)
| the flying reel
https://www.youtube.com/watch?v=RF6OyKKmrX8
Skye (2012 – with Disney)
| the omnidirectional blimp
https://www.youtube.com/watch?v=qXvl3anK3w0
PacFlyer/wingtra (2013)
| the VTOL UAV
https://www.youtube.com/watch?v=QADvPDWtgFU
Flying Robots | new ways of flying
Roland Siegwart 21.06.2016 52

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Autonomous Systems Lab
Based on Mass & Power Balance
Need for precise scaling laws
(mass models)
Roland Siegwart 56
Solar Airplane |
design methodology for continuous flights
21.06.2016
Airplane Parts
• Solar cells
• Battery
• Airframe
• …
Total mass
Aerodynamic & Conditions
Power for level Flight

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Autonomous Systems Lab
Skysailor (2008)
| pioneering continuous flights
| 3.2 m, 2.3 kg
https://www.youtube.com/watch?v=IU4BoEFOEKI
(2012)
| robust and versatile solar plane
| 3 m, 3.8 kg
(2015)
| 81 hours non-stop in summer 2015
| 5.64 m, 6.2 kg
https://www.youtube.com/watch?v=8m4_NpTQn0E
Flying Robots – fixed wing
Roland Siegwart 21.06.2016 58

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Autonomous Systems Lab
Mobile Robot Navigation
21.06.2016Roland Siegwart 59
?

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Autonomous Systems Lab 21.06.2016Roland Siegwart 63
“Seeing” | Laser-based 3D mapping

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Autonomous Systems Lab 21.06.2016Roland Siegwart 64
“Seeing” | Visual-Inertial Motion Estimation
https://www.youtube.com/watch?v=yvgPrZNp4So

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Autonomous Systems Lab 21.06.2016Roland Siegwart 65
“Intelligent Smartphone” | perceiving and understanding the environment
https://www.youtube.com/watch?v=yvgPrZNp4So
phab2pro
Lenovo

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Autonomous Systems Lab
Humans are unbeatable
in taking decisions in complex situations
Technology is better
in simple but fast decisions
(ABS, ESP, )
“Understanding” the world
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Autonomous Systems Lab
Laser-based navigation in complex environments
3D mapping and path planning
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Autonomous Systems Lab
In collaboration with
University of Freiburg,
Univ. of Oxford
KU Leuven
RWTH Aachen
BlueBotics
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Autonomous navigation in cities
EUROPA - European Robotic Pedestrian Assistant
https://www.youtube.com/watch?v=HE0NK7rFfpk

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Autonomous Systems Lab
Real-time on-board Visual-Inertial Navigation
21.06.2016Roland Siegwart 98

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Autonomous Systems Lab 21.06.2016Roland Siegwart 101
OKVIS | Vision-Only vs. Visual-Inertial in Optimization
IMU termsReprojection errors (weighted)Cost
www.skybotix.com
i: camera index; k: camera frame index; j: landmark index.

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Autonomous Systems Lab 21.06.2016Roland Siegwart 130
V-Charge | using close-to-market sensors
cameras
Wheel encoders
ultrasound
11.11.2015

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Autonomous Systems Lab
V-Charge | Vision and Results
21.06.2016Roland Siegwart 134
https://www.youtube.com/watch?v=7xQfKTAtyNU

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Autonomous Systems Lab
DrivingSpeed
Complexity of Environment → Perception and Interaction
21.06.2016Roland Siegwart 137
Autonomous Cars | roadmap
Autonomous
car freeway
Autonomous
car urban
Fully autonomous
Car
(you can sleep)

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Autonomous Systems Lab 21.06.2016Roland Siegwart 142
Autonomous Cars | a bright future without traffic jams

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Autonomous Systems Lab
Swarm of small helicopters
Vision-inertial navigation (one camera and IMU, GPS denied)
Fully autonomous with on-board computing
Feature-based visual SLAM
robust against lighting changes and large scale changes
149
UAV | Vision only navigation
Proto 1
Proto 2
Proto 3
www.sfly.ethz.ch/
21.06.2016Roland Siegwart
https://www.youtube.com/watch?v=vHpw8zc7-JQ

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Autonomous Systems Lab 150
UAV | collision avoidance and path planning
Proto 1
Proto 2
Proto 3
21.06.2016Roland Siegwart
Real time 3D mapping (on-board)
optimal path planning considering localization uncertainties
https://www.youtube.com/watch?v=95XGvEs9iTs
https://www.youtube.com/watch?v=95XGvEs9iTs
https://www.youtube.com/watch?v=D6uVejyMea4
https://www.youtube.com/watch?v=-cm-HkTI8vw

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Autonomous Systems Lab 21.06.2016Roland Siegwart 158
Collaborative Visual-Inertial Navigation
in collaboration with
https://www.youtube.com/watch?v=9PprNdIKRaw
Prof. Marco Hutter
https://www.youtube.com/watch?v=9PprNdIKRaw

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Autonomous Systems Lab
Applications
21.06.2016Roland Siegwart 159

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Autonomous Systems Lab
Static
Structured, 2D
Static
Unstructured, 3D
Dynamic
Structured, 2D
Static
Dynamic
Semantics
Dynamic
Unstructured, 3D
Actions–fromsimplemotiontocomplexinteraction
Environment - from static 2D grid maps to 3D cognitive maps
Advanced
Interaction
Mobile
Manipulation
Tactile
Manipulation
Autonomous
Navigation
Complexity
of Services
Robotics Roadmap
Autonomous
car urban
Tour-Guides
Household
assistant
AGVs
All-terrain
navigation
Autonomous
car freeway
Industrial
services
Toys
Household
universal
dynamic
Search and
Rescue
Agriculture
robots
Roland Siegwart 16021.06.2016
Construction
robotics

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Autonomous Systems Lab
Industrial transportation
Cleaning
Medical robotics
Entertainment / edutainment
Logistics
Autonomous Cars
Industrial inspection
Surveillance and rescue
Construction and mining
Agriculture
Health and elderly care
Personal / services robots
161
Opportunities / Markets
The coffee servant
Nesspresso / Bluebotics, Switzerland
21.06.2016Roland Siegwart
YuMi

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Autonomous Systems Lab
$120 Mio donation
from HJ Wyss
6-7 years
Focus
Robotics
Regenerative Medicine
10 technology transfer
projects running, more in
the pipeline
21.06.2016Roland Siegwart 164
Bridging the “valley of death” | The Wyss Zurich
www.wysszurich.ch

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Autonomous Systems Lab
Zurich Area | a melting pot for robotics technology
Initiatives / Spin-offs / Industrial Collaborations
21.06.2016 Roland Siegwart168
Center for
Learning Systems

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Autonomous Systems Lab
Chris Anderson
CEO of 3DRobotics
WIRED, editor-in-chief until 2012
21.06.2016Roland Siegwart 172
Switzerland, the Silicon Valley of Robotics

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Autonomous Systems Lab
Robotics is a very fascinating engineering field
However, robotics is a very very hard problem
Design and precision mechanics
Perception
Physical interaction
Intelligence
The way forward
A single fine-tuned demonstration is not enough
Hype / Bobble
Overselling will bounce back
However, there are low hanging fruits, especially for Switzerland
21.06.2016Roland Siegwart 173
Conclusion
Advanced
Interaction
Mobile
Manipulation
Tactile
Manipulation
Autonomous
Navigation

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Autonomous Systems Lab 21.06.2016Roland Siegwart 178
ASL Team