Robotics 2016 01 Introduction - polito.it · Basilio Bona ROBOTICS 01PEEQW -2015/2016 4 Robot The term robot, derived from the Slav term robota = executive labor, was introduced in

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 robots

3. Service robots

4. Exploration robots

5. Service & exploration robots can bea) wheeled (rovers)b) flying (UAS,UAV, Quadcopters, etc.)c) legged

There is a partial overlapping of these classes

Basilio Bona 2ROBOTICS 01PEEQW - 2015/2016

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



Robot

The term robot, derived from the Slav term robota = executive

labor, was introduced in 1920 by the Czech playwright KarelČapek in the play “Rossum’s Universal Robots”

But the concept behind a robot appeared several years before any real robot was built

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Timeline

� 1818-1942: robots are described either in novels and plays or in science fiction stories (Frankenstein, RUR, Asimov, …)


Timeline

� 1945: tele-manipulators used for nuclear products processing


Timeline

� 1948: Grey Walter (UK) builds “turtle robots” Elmer and Elsie


Timeline

� 1956: Unimation is the first industrial robot firm

� 1961: first robot on GM car lines


Timeline

� 1970: SRI Shakey


Timeline

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.

� 1975: PUMA manipulator


Timeline

� 1979: Stanford cart


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� 1999: Sony AIBO


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� 2000: Honda Asimo


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� 2004: Mars rovers Spirit & Opportunity


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� 2006-7: DARPA Challenge


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� 2015: DARPA Robotics Challenge


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� 2016 …


Timeline

� 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


Industrial robots

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Video


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� 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


Humanoid robots


Examples from DRC 2013


Many onboard sensors


Examples


Future trends


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� Similar to animals, insects, fishes, birds, etc.

� May have more than two legs, no legs at all, wings, fins; can walk, crawl, swim, fly


� Low – medium payloads, depending on structure

� No safety requirements

� Unknown and changing environment: sea, air, land


Biomimetic 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


� 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


Service robots

� 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 importantBasilio Bona 36ROBOTICS 01PEEQW - 2015/2016

UAVs


Examples

� 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


Exploration robots

� 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


Course content – 1

� 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


Course content – 2

Documents

Robotics 2016 01 Introduction - polito.it · Basilio Bona ROBOTICS 01PEEQW -2015/2016 4 Robot The term robot, derived from the Slav term robota = executive labor, was introduced in