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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


  1. ROBOTICS 01PEEQW Basilio Bona DAUIN – Politecnico di Torino

  2. 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 Basilio Bona 2 ROBOTICS 01PEEQW - 2016/2017

  3. 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 Basilio Bona 3 ROBOTICS 01PEEQW - 2016/2017

  4. 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 robot appeared several years before any real robot was built Basilio Bona 4 ROBOTICS 01PEEQW - 2016/2017

  5. Timeline Basilio Bona 5 ROBOTICS 01PEEQW - 2016/2017

  6. Timeline � 1818-1942: robots are described either in novels and plays or in science fiction stories (Frankenstein, RUR, Asimov, …) Basilio Bona 6 ROBOTICS 01PEEQW - 2016/2017

  7. Timeline � 1945: tele-manipulators used for nuclear products processing Basilio Bona 7 ROBOTICS 01PEEQW - 2016/2017

  8. Timeline � 1948: Grey Walter (UK) builds “turtle robots” Elmer and Elsie Basilio Bona 8 ROBOTICS 01PEEQW - 2016/2017

  9. Timeline � 1956: Unimation is the first industrial robot firm � 1961: first robot on GM car lines Basilio Bona 9 ROBOTICS 01PEEQW - 2016/2017

  10. 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. Basilio Bona 10 ROBOTICS 01PEEQW - 2016/2017

  11. Timeline � 1975: PUMA manipulator Basilio Bona 11 ROBOTICS 01PEEQW - 2016/2017

  12. Timeline � 1979: Stanford cart Basilio Bona 12 ROBOTICS 01PEEQW - 2016/2017

  13. Timeline � 1999: Sony AIBO Basilio Bona 13 ROBOTICS 01PEEQW - 2016/2017

  14. Timeline � 2000: Honda Asimo Basilio Bona 14 ROBOTICS 01PEEQW - 2016/2017

  15. Timeline � 2004: Mars rovers Spirit & Opportunity Basilio Bona 15 ROBOTICS 01PEEQW - 2016/2017

  16. Timeline � 2006-7: DARPA Challenge Basilio Bona 16 ROBOTICS 01PEEQW - 2016/2017

  17. Timeline � 2015: DARPA Robotics Challenge Basilio Bona 17 ROBOTICS 01PEEQW - 2016/2017

  18. Timeline � 2015: DARPA Robotics Challenge Basilio Bona 18 ROBOTICS 01PEEQW - 2016/2017

  19. Timeline � 2015: DARPA Robotics Challenge Basilio Bona 19 ROBOTICS 01PEEQW - 2016/2017

  20. Timeline � 2015: DARPA Robotics Challenge Basilio Bona 20 ROBOTICS 01PEEQW - 2016/2017

  21. Timeline � 2017 … Basilio Bona 21 ROBOTICS 01PEEQW - 2016/2017

  22. 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 Basilio Bona 22 ROBOTICS 01PEEQW - 2016/2017

  23. Video Basilio Bona 23 ROBOTICS 01PEEQW - 2016/2017

  24. Video Basilio Bona 24 ROBOTICS 01PEEQW - 2016/2017

  25. Video Basilio Bona 25 ROBOTICS 01PEEQW - 2016/2017

  26. Video Basilio Bona 26 ROBOTICS 01PEEQW - 2016/2017

  27. 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 Basilio Bona 27 ROBOTICS 01PEEQW - 2016/2017

  28. Examples from DRC 2013 Basilio Bona 28 ROBOTICS 01PEEQW - 2016/2017

  29. Many onboard sensors Basilio Bona 29 ROBOTICS 01PEEQW - 2016/2017

  30. Examples Basilio Bona 30 ROBOTICS 01PEEQW - 2016/2017

  31. Future trends Basilio Bona 31 ROBOTICS 01PEEQW - 2016/2017

  32. Video Basilio Bona 32 ROBOTICS 01PEEQW - 2016/2017

  33. Video Basilio Bona 33 ROBOTICS 01PEEQW - 2016/2017

  34. 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 Basilio Bona 34 ROBOTICS 01PEEQW - 2016/2017

  35. 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 Basilio Bona 35 ROBOTICS 01PEEQW - 2016/2017

  36. 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

  37. Examples Basilio Bona 37 ROBOTICS 01PEEQW - 2016/2017

  38. 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 Basilio Bona 38 ROBOTICS 01PEEQW - 2016/2017

  39. 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 Basilio Bona 39 ROBOTICS 01PEEQW - 2016/2017

  40. 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 Basilio Bona 40 ROBOTICS 01PEEQW - 2016/2017

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