Transcript Introduction to Robotics Class - Electrical & Computer Engineering

Examples of
Robots from
Many Areas
What are robots
good for?
POLICE ROBOT
• An experimental robot picks up a
simulated pipe bomb during a
demonstration for the media at
Sandia National Laboratories in
Albuquerque, N.M., Tuesday, July 3,
2001.
• New technology developed at Sandia
National Laboratories is making
bomb disposal easier and safer for
police bomb squads.
• Phil Bennett, project leader at
Sandia, says the arm joints of the
new robot are more coordinated than
the old-line robots.
• (AP Photo/Jake Schoellkopf)
Example:
NOMAD
ROBOT
• This undated photo from Carnegie Mellon Uniuversity shows the Nomad robot
during its solo drive on an icy Antartic plain.
• The robot, a product of the university's Robotics Institute, began testing its wheels in
January after it was taken by helicopter to a harsh region known as Elephant
Moraine where it was left to inspect rocks and look for meteorites.
•
(AP Photo/Carnegie Mellon U.)
What are robots good for?
•Gofer robots
Carnegie Mellon’s Nomad
ROBOTIC
SURGERY
•Dr. William
Franckle watches a
video monitor as he
assists in a gall
bladder operation
using a robotic
surgery machine
called da Vinci
Surgical System, left,
at Robert Wood
Johnson University
Hospital in New
Brunswick, N.J.,
Thursday, Feb. 8,
2001.
•
Franckle assited Dr. Andrew Boyarsky who was manipulating small robotic
instruments, one is seen on monitor, while looking at a three-dimensional image of
the patient's abdomen from a work station about 10 feet away from the patient. (AP
Photo/Mike Derer)
HURRICANE
SEASON
• ADVANCE
FOR
WEEKEND
EDITIONS OF MAY
19-20 -- An
Aerosonde aircraft is
seen from its launch
vehicle in this 2000
file photo taken in
Australia. Aerosonde
Ltd., an Australian
company, is seeking
permission to fly
pilotless robotic
planes into the 2001
hurricane storms.
•The Aerosonde launches from a car's roof rack and can carry a 4 1/2-pound payload of
high-tech measuring equipment. Maurice Gonella, Aerosonde's principal engineer, says
the $100,000 drones can be put on autopilot and will constantly relay information.
•They also take photographs as they go. (AP Photo/Aerosonde Robotic Aircraft)
ROBOT LAWN MOWER
• Scott Jantz, an engineering student at
the University of Florida in
Gainesville, Fla., watches a robot
lawn mower Wednesday, Aug. 6,
1997, that cuts grass by itself while
avoiding obstacles such as trees, toys
and even children and pets.
• Dubbed the LawnNibbler, the mower
was designed and built by Kevin
Hakala for his engineering master's
thesis.
• The battery-powered mower,
developed at UF's Machine
Intelligence Laboratory, uses buried
radio wires, sonar and infrared
emitters and detectors to find its way
without human assistance.
• (AP Photo/University of Florida)
SANDIA ROBOTICS
Sandia National Laboratories researcher Tom Weber holds a tiny robot named MARV,
for Mobile Autonomous Wheeled Vehicle, on Oct. 28, 1996 in Albuquerque, N.M.
Weber says MARV is a learning tool to begin to understand the problems of building
inexpensive little robots for use in military applications.(AP Photo/Jake Schoellkopf)
Robots in the World
Installations
Stock
Robots in the Real World
•
•
•
•
•
Welding
Painting
Assembly
Laboratory
Manufacturers
By 1985, there were
180,000 robots on
production lines in the
world with the US, France
and Japan accounting for
80% of them
A robot drills 550 holes in the
vertical tail fins of an F-16
fighter in 3 hours in General
Dynamics. It used to take 24
worker hours to do the job
manually.
Industrial Manipulators
Puma 500
RRC Dexterous Manipulator
Industrial Manipulators
Adept Six 300
Adept One XL
Cartesian robot
BATTLEBOTS
CHAMPIONSHIP
•
•
•
Robot "T-Minus", right, built by Reason Bradley of Sausalito, Calif., flips opponent robot "Halo", built
by Brian Scearce of Fremont, Calif., Thursday, May 24, 2001, during the preliminary elimination rounds
of the Battlebots Robot Combat Championship on Treasure Island, in San Francisco.
Battlebots is the sport of remote controlled robotic combat, where a face-off of creations made by
Hollywood special effects artists, rocket scientists, software designers, and garage tinkerers meet in the
boxing arena.
The championships will run through the Memorial Day weekend, and end on Monday, May 28. (AP
Photo/Ben Margot)
The Robot Revolution
• While a computer performs mental tasks, a
robot
is a computercontrolled
machine
designed to
do manual
tasks
Mobile Autonomous Robots
Khepera
CWRU Hexapod 1
Robots in Research
• Mobile robots need brains
– Navigation is difficult
– And potentially dangerous
Service robots: Cleaning robot
Service robots: Building walls
Service robots : Gas station
Pattern Recognition:
Making Sense of the World
• Pattern recognition involves identifying
recurring patterns in input data with the goal
of understanding or categorizing that input
• Image Analysis:
identifying objects
and shapes
What are the
robots good
for?
•Manufacturing and materials handling
What are the
robots good
for?
•Gofer robots
Bell & Howell Mailmobile
What are robots good for?
•Hazardous environments
Lunokhod
Moon Robot
What are
robots good
for?
•Hazardous environments
Dante II Frame Walking Robot
What are robots good for?
•Telepresence and virtual reality
The Wheelbarrow, a bomb disposal robot
What are robots good for?
•Telepresence and virtual reality
Advanced Tethered Vehicle (ATV)
What are robots good for?
•Telepresence and virtual reality
Advanced Robot and Telemanipulator System for Minimal Invasive Surgery
(ARTEMIS)
What are robots good for?
•Augmentation of human abilities
Sigourney Weaver in the movie Aliens
Daihen Almega GO1S
PCB 기판을 조립하는 Quad 로보트
Kuka Robotics KL1500
Automated Cells and Equipment 사의 RoboCell
WTR-A1000
Fanuc LR Mate 드릴 로보트
SONY사에서 개발한 장난감 개, Aibo
Yaskawa Help Mate
수중탐사용 로보트
NASA의 RMS
What are
robots made
of?
What are robots made of?
•Effectors: Tools for Action
•Locomotion
•Manipulation
•Sensors: Tools for perception
•Proprioception
•Force Sensing
•Tactile Sensing
•Sonar
•Camera Data
What are robots made of?
•Effectors: Locomotion
Carnegie Mellon’s Ambler
What are
robots made
of?
•Effectors:
Locomotion
MIT’s 3D Hopper
What are
robots made
of?
•Sensors: Proprioception
MIT’s Spring Flamingo
What are robots made of?
•Sensors: Force
Sensing
MIT’s Phantom
What are
robots
made of?
•Sensors: Tactile
Sensing
MIT’s Planar Grasper
What are robots
made of?
•Sensors: Sonar
ActivMedia’s Peoplebot
What are robots made of?
•Sensors: Camera Data
The Johns Hopkins Beast
What are robots made of?
•Sensors: Camera Data
MIT’s Fast Eye
Gimbals
Why Robotics?
• In view of the keen competition worldwide in
automotive manufacturing technology, the role
of robot is unavoidable with its current state of
the art.
• With a pressing need for increased productivity
and the delivery of the end products of uniform
quality, industry is turning more and more
toward computer-based machine tools for the
“agile” assembly line
Why Robotics?
• Modern computer architecture and sensors provide
intelligence to the robot.
• “Intelligence connection from perception to action”
• The new message is: robots are going to come out of
factory and enter our every day life.
• In Japan, ~70,000 robots are installed every year.
• Companies there are taking full advantage of the
productive power of robotics.
• It is not an accident that Japan is such a strong
competition in so many manufacturing industries
• Their companies are willing to make long-term
commitment to robotics and advanced automation
The Basic Components of an
Industrial Robotic System
The application areas of Industrial Robots are:
Robotics: Emulation of Human
Endeavors
The Modern Technologies add the
Qualities to the Robots:
What can you expect from
this lecture
• Applications of Artificial Intelligence
techniques in robotics and intelligent systems
My goal is to extend your imagination what can be done
using robotic and intelligent systems!!
Main Components of Lectures:
• We reimburse your all
expenses
• Robot stays at PSU
• If you want, you can
duplicate it next
Assignments
• 1. In the Robotics
Laboratory you can find
many videotapes about
robots from top universities.
Watch them. This will help
you in the project.
• 2. Try to find on Internet or
in local shops more videos
about robots and share them
with the class.
• 3. In the lab and in the
storage room try to
find components that
may be useful for your
projects. If not, look to
Tektronix Country
Store, Wacky Willy or
similar shops for
components.
Sources
•
•
•
•
Padhraic Smyth
Kiriakos Kutulakos, University of Rochester
Rojas FUB MI
Behnke
• A. Ferworn
• Dodd, Harvey Mudd College
• Internet
• Brian Glassman, Mechanical Engineering at Florida Institute of Technology
• John Gallagher, SUNY Institute of Technology