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Published by: Radhika Jain on Nov 19, 2011
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Robotics is the branch of technology that deals with the design, construction, operation, structural disposition, manufacture and application of robots. Robotics is related to the sciences ofelectronics, engineering, mechanics mechatronics, and software.

The word robotics was derived from the word robot, which was introduced to the public by Czech writer Karel Čapek . A robot is a mechanical or virtual intelligent agent that can perform tasks automatically or with guidance, typically by remote control. In practice a robot is usually an electro-mechanical machine that is guided by computer and electronic programming



Further information: Power supply and Energy storage At present; mostly (lead-acid) batteries are used, but potential power sources could be:     pneumatic (compressed gases) hydraulics (liquids) flywheel energy storage organic garbage (through anaerobic digestion)

 faeces (human, animal); may be interesting in a military context as faeces of small combat groups may be reused for the energy requirements of the robot assistant (see DEKA's project Slingshot Stirling engine on how the system would operate)  still unproven energy sources: for example Nuclear fusion, as yet not used in nuclear reactors whereas Nuclear fission is proven (although there are not many robots using it as a power source apart from the Chinese rover tests.[17]).  radioactive source (such as with the proposed Ford car of the '50s); to those proposed in movies such as Red Planet [edit]Actuation Actuators are like the "muscles" of a robot, the parts which convert stored energy into movement. By far the most popular actuators are electric motors that spin a wheel or gear, and linear actuators that control industrial robots in factories. But there are some recent advances in alternative types of actuators, powered by electricity, chemicals, or compressed air: [edit]Electric motors Main article: Electric motor The vast majority of robots use electric motors, often brushed and brushless DC motors in portable robots or AC motors in industrial robots and CNC machines. [edit]Linear actuators Main article: Linear actuator

[25] [edit]Piezo motors Main article: Piezoelectric motor A recent alternative to DC motors are piezo motors or ultrasonic motors. speed. whereby tiny piezoceramic elements. to allow improved force control.[30] .[28][29] [edit]Elastic nanotubes Further information: Nanotube Elastic nanotubes are a promising artificial muscle technology in early-stage experimental development. The absence of defects in carbon nanotubes enables these filaments to deform elastically by several percent. cause linear or rotary motion. with energy storage levels of perhaps 10 J/cm3 for metal nanotubes. are special tubes that contract (typically up to 40%) when air is forced inside it.[21][22] [edit]Electroactive polymers Main article: Electroactive polymers EAPs or EPAMs are a new plastic material that can contract substantially (up to 400%) from electricity. and available force for their size.[23] and to allow new robots to float.[24] fly. [edit]Series elastic actuators A spring can be designed as part of the motor actuator. They have been used for some robot applications. particularly when very large forces are needed such as with industrial robotics. and have been used in facial muscles and arms of humanoid robots. These work on a fundamentally different principle. also known as air muscles. There are different mechanisms of operation. and being used on some robots. particularly walking humanoid robots.[18] [edit]Air muscles Main article: Pneumatic artificial muscles Pneumatic artificial muscles. Such compact "muscle" might allow future robots to outrun and outjump humans. They are typically powered by compressed air (pneumatic actuator) or an oil (hydraulic actuator). vibrating many thousands of times per second. Nitinol or Flexinol Wire. They have been used for some small robot applications. swim or walk. [26] Another type uses the piezo elements to cause a nut to vibrate and drive a screw. [27] These motors are already available commercially. also known as Shape Memory Alloy. Human biceps could be replaced with an 8 mm diameter wire of this material. The advantages of these motors are nanometer resolution. is a material that contracts slightly (typically under 5%) when electricity runs through it. It has been used in various robots. one type uses the vibration of the piezo elements to walk the motor in a circle or a straight line.[19][20] [edit]Muscle wire Main article: Shape memory alloy Muscle wire.Various types of linear actuators move in and out instead of by spinning.

[36] . In most practical computer vision applications. computer vision is concerned with the theory behind artificial systems that extract information from images. Computer vision systems rely on image sensors which detect electromagnetic radiation which is typically in the form of either visible light or infra-red light. each allowing them to perform some small range of tasks. The image data can take many forms. Electrodes are mounted on the surface of the rigid core and are connected to an impedance-measuring device within the core. pick up. producing impedance changes that map the forces received from the object. called SmartHand. Also. for example a humanoid hand. The process by which light propagates and reflects off surfaces is explained using optics. modify. Thus the "hands" of a robot are often referred to as end effectors. The prosthesis has sensors which enable the patient to sense real feeling in its fingertips. [edit]Manipulation Further information: Mobile manipulator Robots needs to manipulate objects. As a scientific discipline. type on a keyboard.[34] while the "arm" is referred to as a manipulator. their design. Some have a fixed manipulator which cannot be replaced. which functions like a real one—allowing patients to write with it.[edit]Sensing [edit]Touch Current robotic and prosthetic hands receive far less tactile information than the human hand. at different levels of complexity.[31][32] The sensor array is constructed as a rigid core surrounded by conductive fluid contained by an elastomeric skin. When the artificial skin touches an object the fluid path around the electrodes is deformed. destroy. There is a subfield within computer vision where artificial systems are designed to mimic the processing and behavior of biological systems. The sensors are designed using solidstate physics. while a few have one very general purpose manipulator. such as video sequences and views from cameras. but methods based on learning are now becoming increasingly common.[33] [edit]Vision Main article: Computer vision Computer vision is the science and technology of machines that see. and usage consult the book "Robot Grippers". For the definitive guide to all forms of robot end-effectors. the computers are pre-programmed to solve a particular task. Sophisticated image sensors even require quantum mechanics to provide a complete understanding of the image formation process.[35] Most robot arms have replaceable effectors. play piano and perform other fine movements. Scientists from several European countries and Israel developed a prosthetic hand in 2009. The researchers expect that an important function of such artificial fingertips will be adjusting robotic grip on held objects. some of the learning-based methods developed within computer vision have their background in biology. or otherwise have an effect. Recent research has developed a tactile sensor array that mimics the mechanical properties and touch receptors of human fingertips.

These can have certain advantages such as greater efficiency and reduced parts. to counter-balance the fall at hundreds of times per second. based on the dynamics of an inverted pendulum. [edit]General purpose effectors Some advanced robots are beginning to use fully humanoid hands. as well as allowing a robot to navigate in confined places that a four wheeled robot would not be able to.[45] Because of the long. thin shape and ability to maneuver in tight spaces. Some researchers have tried to create more complex wheeled robots with only one or two wheels. Pick and place robots for electronic components and for large objects like car windscreens. they have the potential to function better than other robots in environments with people.[44] [edit]One-wheeled balancing robots Main article: Self-balancing unicycle A one-wheeled balancing robot is an extension of a two-wheeled balancing robot so that it can move in any 2D direction using a round ball as its only wheel.[49][50] These have also been referred to as an orb bot [51] or a ball bot[52][53] . with as many as 20 degrees of freedom and hundreds of tactile sensors. often use very simple vacuum grippers.[41] [edit]Locomotion Main articles: Robot locomotion and Mobile robot [edit]Rolling robots For simplicity most mobile robots have four wheels or a number of continuous tracks. but can hold very large loads provided the prehension surface is smooth enough to ensure suction. such as Carnegie Mellon University's "Ballbot" that is the approximate height and width of a person.[43] While the Segway is not commonly thought of as a robot. MANUS. and Tohoku Gakuin University's "BallIP".[47][48] or by rotating the outer shells of the sphere. such as NASA's Robonaut that has been mounted on a Segway.[39] and the Schunk hand. it can be thought of as a component of a robot.[edit]Mechanical Grippers One of the most common effectors is the gripper.[40] These highly dexterous manipulators. [edit]Two-wheeled balancing robots Balancing robots generally use a gyroscope to detect how much a robot is falling and then drive the wheels proportionally in the opposite direction.[37] See Shadow Hand. Several one-wheeled balancing robots have been designed recently. In its simplest manifestation it consists of just two fingers which can open and close to pick up and let go of a range of small objects. either by spinning a weight inside the ball. [edit]Vacuum Grippers Vacuum grippers are very simple astrictive[38] devices.[46] [edit]Spherical orb robots Several attempts have been made in robots that are completely inside a spherical ball. like the Shadow Hand. Fingers can for example be made of a chain with a metal wire run through it.[42] Many different balancing robots have been designed.

Typically. due to these robots being significantly easier to construct. However. a robot with only one leg. it still requires a smooth surface to walk on. however none have yet been made which are as robust as a human. and some dynamic balancing is used (see below). [61] Soon. The movement is the same as that of a person on a pogo stick. [edit]Dynamic Balancing (controlled falling) A more advanced way for a robot to walk is by using a dynamic balancing algorithm. where the robot must drive on very rough terrain. [edit]Hopping Several robots. successfully demonstrated very dynamic walking. and the difference is obvious to human observers. Several robots have been made which can walk reliably on two legs. the two forces cancel out. could stay upright simply byhopping.[57] However. exactly opposed by the floor reaction force (the force of the floor pushing back on the robot's foot). and places the feet in order to maintain stability. uneven terrain. the algorithm was generalised to two and four legs. some of whom have pointed out that ASIMO walks as if it needs the lavatory. Initially. A bipedal robot was demonstrated running and even performing somersaults.[63] For a full list of these robots. As the robot falls to one side. where they walk on 2 legs and switch to 4 (arms+legs) when going to a sprint.[58][59][60] ASIMO's walking algorithm is not static. The robot's onboard computer tries to keep the total inertial forces (the combination of earth's gravity and the acceleration and deceleration of walking). see theMIT Leg Lab Robots page. which is potentially more robust than the Zero Moment Point technique. and a very small foot. [edit]Tracked robots Tank tracks provide even more traction than a six-wheeled robot. pace. and bound. Tracked wheels behave as if they were made of hundreds of wheels. leaving no moment (force causing the robot to rotate and fall over). this is not exactly how a human walks. they are difficult to use indoors such as on carpets and smooth floors.[55][56] Hybrids too have been proposed in movies such as I. therefore are very common for outdoor and military robots. in order to catch itself. In this way. Some of the methods which have been tried are: [edit]ZMP Technique Main article: Zero Moment Point The Zero Moment Point (ZMP) is the algorithm used by robots such as Honda's ASIMO.[64] This technique was recently . built in the 1980s by Marc Raibert at the MIT Leg Laboratory. Robot. However.[54] [edit]Walking applied to robots Walking is a difficult and dynamic problem to solve. it would jump slightly in that direction. as it constantly monitors the robot's motion.[62] A quadruped was also demonstrated which could trot. Many other robots have been built that walk on more than two legs. None can walk over rocky.[edit]Six-wheeled robots Using six wheels instead of four wheels can give better traction or grip in outdoor terrain such as on rocky dirt or grass. Examples include NASA's Urban Robot "Urbie". robots on 2 legs can walk well on flat floors and can occasionally walk up stairs. run.

which can either step or roll. normal flight. one of which is a multi-mode walking and skating device. Li Hiu Yeung and his research group have recently successfully developed the bionic gecko robot "Speedy Freelander". propelled by paddles.[73] Another robot. The autopilot can control the plane for each stage of the journey. Air Ray. and skate across a desktop.[65] which is so stable. this gecko robot can rapidly climbing up and down in a variety of building walls.[72] [edit]Skating A small number of skating robots have been developed.demonstrated by Anybots' Dexter Robot. Another approach uses the specialised toe pad method of wall-climbing geckoes. 2008 reported New Concept Aircraft (ZHUHAI) Co. and even landing. which can run on smooth surfaces such as vertical glass. with two humans to manage it. without the need for a command from a human. One approach mimicks the movements of a human climber on a wall with protrusions. and the Epson micro helicopter robot. like ASIMO. including takeoff. It has been shown that totally unpowered humanoid mechanisms can walk down a gentle slope. Using this technique. these robots can navigate very confined spaces. Dr. This technique promises to make walking robots at least ten times more efficient than ZMP walkers. ]Snaking Several snake robots have been successfully developed. using only gravity to propel themselves. and Air Jelly have lighter-than-air bodies. [edit]Passive Dynamics Perhaps the most promising approach utilizes passive dynamics where the momentum of swinging limbs is used for greater efficiency.[67][68] [edit]Other methods of locomotion [edit]Flying A modern passenger airliner is essentially a flying robot. ground and vertical wall fissure or walking upside down on the .According to Dr. Other flying robots include cruise missiles. It has four legs. Mimicking the way real snakes move. meaning they may one day be used to search for people trapped in collapsed buildings.[77] China's "Technology Daily" November 15. and are known as unmanned aerial vehicles (UAVs). can use a miniature skateboard or rollerskates. Plen. Li introduction.[69] Other flying robots are uninhabited. the Entomopter. adjusting the center of mass and moving each limb in turn to gain leverage. UAVs are also being developed which can fire on targets automatically. Robots such as the Air Penguin. Some can even fire on targets under command.[74] [edit]Climbing Several different approaches have been used to develop robots that have the ability to climb vertical surfaces. Examples of this approach include Wallbot [76] and Stickybot.[75] built by Stanford University..[66] Another example is the TU Delft Flame.[70] The Japanese ACM-R5 snake robot[71] can even navigate both on land and in water. and fly into dangerous territory for military surveillance missions. An example of this is Capuchin. it can even jump. a robot need only supply a small amount of motor power to walk along a flat surface or a little more to walk up a hill. with unpowered wheels. Ltd. They can be smaller and lighter without a human pilot onboard. California. and guided by sonar.

which emulate the locomotion of manta ray. It becomes even harder when the speaker has a different accent.ceiling.[78] Furthermore. with an accuracy of 95%. whether or not the speaker has a cold. respectively. in real time. spoken by the same person may sound different depending on local acoustics. and jellyfish. Although speech would be the most natural way for the human to communicate. and Balashek designed the first "voice input system" which recognized "ten digits spoken by a single user with 100% accuracy" in 1952. is a difficult task for a computer. circumvent the bypass and flexible and realistic movements. volume. up to 160 words per minute. it is able to adapt on smooth glass.[83] Nevertheless. mostly because of the great variability of speech. rather than a command-line interface.[91] The coating and servos are built .. rough or sticky dust walls as well as the various surface of metallic materials and also can automatically identify obstacles. and facial expressions. copies the streamlined shape and propulsion by front "flippers" of penguins.[79] Notable examples are the Essex University Computer Science Robotic Fish. [81] The Aqua Penguin. allowing a great amount of facial expressions due to the elasticity of the rubber facial coating and imbedded subsurface motors (servos) to produce the facial expressions. and especially how they will be told to stop will be of critical importance. the best systems can recognize continuous. etc.[82] The same word. designed and built by Festo of Germany. they can accelerate and maneuver far better than any manmade boat orsubmarine. Festo have also built the Aqua Ray and Aqua Jelly. natural speech. and so any interface will need to be extremely intuitive. Human-robot interaction Main article: Human-robot interaction If robots are to work effectively in homes and other non-industrial environments. to analyze and mathematically model thunniform motion. and produce less noise and water disturbance. it is unnatural for the robot. Biddulph. [edit]Swimming (like a fish) It is calculated that when swimming some fish can achieve a propulsive efficiency greater than 90%. many researchers studying underwater robots would like to copy this type of locomotion. great strides have been made in the field since Davis.[80] and the Robot Tuna built by the Institute of Field Robotics. gestures.[85] Facial expression Further information: Facial expression Facial expressions can provide rapid feedback on the progress of a dialog between two humans. the way they are instructed to perform their jobs. Its flexibility and speed are comparable to the natural gecko. Science fiction authors also typically assume that robots will eventually be capable of communicating with humans through speech. The people who interact with them may have little or no training in robotics.[84] Currently. It will probably be a long time before robots interact as naturally as the fictional C-3PO. the previous word. [edit]Speech recognition Main article: Speech recognition Interpreting the continuous flow of sounds coming from a human. Robotic faces have been constructed by Hanson Robotics using their elastic polymer called Frubber. and soon it may be able to do the same for humans and robots. Therefore. A third approach is to mimick the motion of a snake climbing a pole[citation needed].

they use sounds.e. sadness. the position of the robot's gripper) from noisy sensor data.perception.g. Pattern recognition and computer vision can be used to track objects. a toy robot dinosaur.[97] [edit]Control The mechanical structure of a robot must be controlled to perform tasks. and body language to try to convey an internal state. These presets could possibly be transferred for use in real-life robots. Cognitive models try to represent the robot. robots likeKismet and the more recent addition. motion planning and other artificial intelligence techniques may be used to figure out how to act. To simplify this programming in the movie. which may be joy. a planner may figure out how to achieve a task without hitting obstacles. This information is then processed to calculate the appropriate signals to the actuators (motors) which move the mechanical. A robot should know how to approach a human. Likewise. An immediate task (such as moving the gripper in a certain direction) is inferred from these estimates. This decreased the amount of time needed to make the film. Sensor fusion may first be used to estimate parameters of interest (e. etc. judging by their facial expression and body language. or fear. and action (robotic paradigms). Mapping techniques can be used to build maps of the world. . At longer time scales or with more sophisticated tasks. Finally. presets were created together with a special software program. something which may or may not be desirable in the commercial robots of the future. For example. the position of its joints or its end effector). Techniques from control theory convert the task into commands that drive the actuators.on a metalskull.g. The processing phase can range in complexity. The control of a robot involves three distinct phases . At a reactive level. facial expressions.[94] Nevertheless. falling over. the robot may need to build and reason with a "cognitive" model. and how they interact. Nexi[92] can produce a range of facial expressions. processing. Sensors give information about the environment or the robot itself (e. or crazy-looking affects the type of interaction expected of the robot. [edit]Personality Many of the robots of science fiction have a personality. which can exhibit several apparent emotions. researchers are trying to create robots which appear to have a personality:[95][96]i. the world. Whether the person is happy.[93] [edit]Artificial emotions Artificial emotions can also be imbedded and are composed of a sequence of facial expressions and/or gestures. frightened. allowing it to have meaningful social exchanges with humans. the programming of these artificial emotions is complex and requires a great amount of human observation. As can be seen from the movie Final Fantasy: The Spirits Within. it may translate raw sensor information directly into actuator commands. One commercial example is Pleo.

Our Robots .

They help you to understand how an animal moves. Demolisher 5000 We named our robot this name because it demolishes towers and the 5000 part sounded cool. Animal robots are fun to make. Friesen added an additional challenge to us. like paper. level of intelligence. Cricket Our cricket moves forwards and backwards using a pulley to drive the wheels. level of control and level of programming language. We needed to create our robot using only one motor so that we would learn how to use gears and pulleys to transfer energy. while the light sensor turns on the the light when it g dark. it has a light sensor to tell the robot when it is approaching an obstacle. To put our robot to the test. The motor attachment design was strengthened. a touch sensor and a light sensor. Dr. Alien Streetcleaner and Woodcutter This robot has wings. it will turn to avoid the object. When the car backs into an object it will stop and move forward. but our front wheels fell off. Also the eyes light up while it is going and turn off when it bumps into something. We needed to create our robot using only one motor so that we would learn how to use gears and pulleys to transfer energy. Robots are often classified according to their generation. we decided to battle a friend's robot and guess what. which helped the gears stay meshed together properly. The RCX box is secured to the top of the robot.We have classified our robots alphabetically according to the name that the students have given their robot. we won. Dr. We made it demolish a tower. It changes direction when it does bump into something. Imagine this crazy Alien cleaning your street and cutting your wood! The Beetle This robot is very strong and powerful. and green and blue lights that flash. A touch sensor prevents the Beetle from bumping into walls. The Cricket is not an autonomous robot. Friesen added an additional challenge to us. "The Alien Streetcleaner and Woodcutter" moves forwards and backwards. When the car approaches an object and gets too close. as well. The light sensor would work at the front of the car and the touch sensor at the back of the car. It was a real challenge to make the head of our giraffe go up and down while the it was moving forwards and . It shows that you can have a robot travel without being built with the RCX unit. antennae. Bug Our bug moves forwards and backwards and keeps going until it bumps into something. Driller Our robot drills through things. Car We built a car with two different sensors. (try here for video link) Giraffe Robot We created a giraffe robot.

Stationary robots (including robotic arms with a global axis of movement) 1. There are: *Industrial robots *Domestic or household robots *Medical robots *Service robots *Military robots *Entertainment robots *Exploration robots Types of robots by locomotion and kinematics As you can understand.5 Articulated robots (robotic arms) 1.6 Parallel robots 2.1 Cartesian/Gantry robots 1. That's alright. So. For example an industrial robot usually. robots do a lot of different tasks in many fields. Wheeled robots . but if there is an AVG (Automated Guided Vehicle) in a factory? It is also a robotic device working in an industrial environment. when talking about industrial robots we think of stationary robots in a work cell that do a specific task. I propose to use both of these classifications together. And this number of jobs entrusted to robots is growing steadily. So there are: 1.2 Cylindrical robots 1.4 SCARA robots 1.3 Spherical robots 1.Types of robots by application Nowadays. robot's application alone does not provide enough information when talking about a specific robot. That's why one of the best ways how to divide robots into types is a division by their application.

4 hexapod robots 3.2. they are used to carry out complicated surgeries which are very difficult for doctors and surgeons to perform. which directly has an effect on production.3 quadrupedal robots 3. Such systems can even do the work of approximately 100 or more human workers at a time. Others Advantages of Robotics in Business Quality and Accuracy of Work Robotic systems have the capability of impressively meliorating the quality of work. Big industrial manufacturing giants have robotic systems that work 24/7. as more and more products are to be manufactured in a very less time. the throughput speed rises. Advantages of Robotics in Various Fields Industrial Robotics The use of robotic systems in the industrial sector is a necessity nowadays. they have the potential to produce considerably more than a human worker.1 Bipedal robots (humanoid robots) 3. Swimming robots 5. They don't make any mistakes and errors as humans do. vacations. Moreover. Legged robots 3.2 Tripedal robots 3. Mobile spherical robots (robotic balls) 7.3 Three and more wheel robots 3. Quantity of Production If robots are used for production purposes.5 other numbers of legs 4. They have the capability to work at a constant speed without the need to take short breaks. Flying robots 6.2 Two-wheeled robots 2.1 Single wheel (ball) robots 2. and that too with high-quality and accuracy. This saves a lot of important output and production time. In the medical field. They provide optimum output in regards to quality as well as quantity. sleeps. In the industrial sector they prevent any errors in the production of goods. and some other time-spending factors. . Car and electronic manufacturing companies mostly make use of such automated systems.

There are expected times when Robots will over power mankind in future. who knows it may become a reality in the near future. . Some examples include robotic pool cleaners and robotic vacuum cleaners. It is for us to wait and see whether the creators or the creation will rule the world. Like computers in the 20 th century Robots are going to be common house hold items in future. be it in manufacturing medicines and drugs or carrying out simple tasks in specific surgeries. However. the robotic hand has been showed. Future robotics systems may come up with benefits that we can't even imagine of. Robotics programming is a way of feeding information into the robots regarding what tasks are to be performed and how. However. robots don't perform the whole procedure in surgeries. The advantages of robotics are certainly predicted to grow in several other fields over time. and also in lesser time than normal. but certainly assist the surgeons to perform the task accurately. the technology of house robots is not being used commercially. With the development of computers. Development is going on in the field of nano system which deals with implanting of small chips into human body for early detection of diseases. This will invoke thinking in Robots which in future will help Man kind in problem solving. semiconductor technology Robotics will grow in leaps and bounds. This can also help in locating a person by GPS technology. They will find applications in almost all areas and become universal. They also may be utilized for robotic painting and robotic welding jobs. The use of robotics in nursing is increasing due to the shortage of efficient manpower. the use of robots in household may be common. and also provide care and protection. Medical and Healthcare Robotics Robotic systems have also proven to play a very important role in the medicinal and surgical sector. The major among them is in the field of: Medicine: New techniques for Tele surgery will be developed in future for Remote operations and also for complex operations like cardiac surgery. The ethnicity of providing intelligence to robots is questioned but future is the answer to this question. Spatial Exploration: With the development of computers the power of Robonauts will increase by which spatial exploration can develop. Robots are already sent into space like the Voyager to Mars and Cassini to Saturn. After more development in this field. robots that can perform house duties are also being manufactured. Moreover. Development is going in the field of artificial intelligence. Robotics in Household Nowadays. A surgeon may use a 'robotics surgery coordinator' to perform a surgery without making big incisions.They employ robotic systems in several testing and assembling procedures which would be difficult and time-consuming for human workers to carry out. FUTURE OF ROBOTICS The future developments of Robots can be found in various places. a robot may be used in performing an unmanned operation which is known as a robotic surgery.Scientists are working on technologies that can be incorporated in future robotic pets. Robotic packaging machinery is used in companies which manufacture daily-use products. In many films. Robotic arms are a simple example of such technologies. which can enable the pets to better mingle with families. CONCLUSION Robots are going to play a very significant part in our daily life.

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