Transcript What is Robotics?

What is Robotics?
• A robot is a
machine that
can be
programmed.
The Four D’s of Robotics
1.
2.
3.
4.
Dangerous
Dirty
Dull
Difficult
The Four D’s of Robotics
1.
2.
3.
4.
Dangerous
Dirty
Dull
Difficult
The Four D’s of Robotics
1.
2.
3.
4.
Dangerous
Dirty
Dull
Difficult
The Four D’s of Robotics
1.
2.
3.
4.
Dangerous
Dirty
Dull
Difficult
The First Robots
• Mechanical toys such as the Japanese
Karakuri ningyo toys of the 1700s
The First Robots
• Leonardo
da Vinci’s
15th Century
design for a
knight
The First Robots
• Automata of the
1800s
What is artificial intelligence and
how is it different from robotics
as we know it?
• In current robotics, all robot behavior must
be programmed into the robot.
• Artificial intelligence is the ability of the
robot to select which behavior or program
to run.
Difference in Robots and Humans
• Machines can recall data and do math much
faster than humans. They are more rugged than
we are.
• Humans are much better at recognizing patterns.
They are more creative. Humans can adapt to
change much faster than robots.
Major Fields of Robotics
• Operator Interface: A robot must be able to
communicate with its human controller
• Mobility or locomotion: How the robot gets from
place to place
• Manipulators and effectors:
• The parts of the robot that
interact with objects by
touching things, picking
them up, placing them in
containers, etc.
Major Fields of Robotics
• Programming – How you talk to a
machine.
• Sensing and perception –
A robot needs information
from sensors to know
about its surroundings
Difference between Autonomous
and TeleOp
• An autonomous robot is controlled by its
internal computer.
• A teleop or teleoperated robot is controlled
by a human using a control device
remotely.
Ways to teleop a robot:
• Virtual Reality
(VR) immerse
the operator in
a real-time
control
environment.
Ways to teleop a robot:
• Biofeedback or
neurofeedback
using an EEG.
Very useful for
people who have
lost a limb or are
paralyzed.
Ways to teleop a robot:
• Exoskeleton robot
Mobility or Locomotion
• Electric motors – DC (direct current) are
used to created rotational movement
• Servos – Work by electricity and also
created rotational movement
• Linear Actuators – pneumatics or
hydraulics and created a lot of force very
quickly
• Rotary actuators – much like linear only
force is rotational
How can robots move?
• Muscle wire –
actually contracts
when electricity is
run through it. Shape
Memory Alloy or
SMA;
How can robots move?
• Electroactive polymers
can contract up to 400
percent when electricity
is applied. Used for
humanoid robots
How can robots move?
• Two-wheeled balancing – robot uses
sensors to stay balanced
• One-wheeled balancing – robot uses a
single wheel or ball and still maintains
balance
• Six-wheeled robots – multiple wheels
• Walking robots -
How can robots move?
• Walking robots
– Like Honda’s
ASIMO these
robots are
called bipeds.
How can robots move?
• Flying robots –
Unmanned
aerial vehicles
(UAVs) fly in
front of patrols
so soldiers can
spot
ambushes.
How can robots move?
• Underwater
robots – used
for recovery,
mapping,
exploration and
clean-up
How can robots move?
• Climbing robots –
Use gecko-like
mechanisms
to climb
Manipulators and End Effectors
• Some people refer to the hand of a robot
as an end-effector or effector and the arm
as a manipulator.
• Mechanical Gripper
Manipulators and End Effectors
• Vacuum gripper
Manipulators and End Effectors
• Magnetic Grippers
• Ingressive Grippers
Sensors
• Robots must know: Where am I? Where
do I need to go? What is in my way?
• Robots use cameras for eyes
• Robots use microphones for ears
• Robots use touch sensors for touch
• GPS Sensors for coordinates
• Radar transmitters for objects in the way
• Infrared sensors detect heat
Pseudo Code
• Pseudo code is “pictures” or tiles of code
that you can experiment with rather than
actually programming
Center of Gravity
• Center of Gravity, the point at which all of
the weight of an object appears to be
concentrated. If an object rotates when
thrown, the center of gravity is also the
center of rotation. It is important for
automobiles and trucks to have their
centers of gravity located close to the
road, because a low center of gravity gives
them stability.
Support Polygon
• The support polygon is the imaginary
polygon formed by connecting the points
where the robot touches the supporting
surface.
• A triangle is the most stable stationary
polygon.
• The most stable polygon for movement is
a rectangle.
Two-point rule
• Two-point rule says that you need two
points of connection on structural pieces.
Vulnerable Robot Elements
• Anything that is sticking out and subject to
being rammed or run-over