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ROBOTICS
ECE 411: ROBOTICS
ENGR. LALAINE JEAN A. BALLAIS, ECT

One of human being’s greatest ambitions has

been to give life to their artifacts.
HISTORY OF ROBOTICS

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TITAN PROMETHEUS
Human molded from clay.
FRANKENSTEIN
Human being assembled from
stolen body parts.
WARTIME
INVENTIONS
WW2 was a catalyst in the
development of two important
robot components – artificial
sensing and autonomous control.
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GIANT TALUS
Bronze slave forged by
Hephaestus.
SLAVES OF STEEL
The word robot was first used by
Czechoslovakian writer Karel
Capek in his satirical play, R.U.R.
(Rossum’s Universal Robots).
The word robot was taken from
the Czech word for forced labor.
CALCULATORS AND
COMPUTERS
• Around 1830s, Charles
Babbage dreamed up the
idea for an “Analytical
Engine”
• John Atanassoff would build
the first digital computer 100
years later
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• In 1946, the University of
Pennsylvania completed the
ENIAC
INDUSTRIAL-
STRENGTH ARMS
• As the demand for cars grew,
manufacturers looked for new
ways to increase the
efficiency of the assembly
line through telecherics
• In 1961, General Motors
applied telecheric system
• In 1978, PUMA was
introduced and became the
standard for telecherics
ARMS IN SPACE
• Once earthlings traveled to
space, they wanted to build
things there
• In 1981, Canadarm has gone
on to deploy and repair
satellites, telescopes, and
shuttles
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A ROBOT IN EVERY
POT
• The invention of the transistor
in 1948 increased the rate of
electronic growth
• Ten years later, silicon
microchips were created
• Westinghouse robot Elecktro
– 7-ft robot could smoke and
play the piano
EARLY PERSONAL
ROBOTS
• With the rise of personal
computer came the personal
robot craze of the ‘80s
• RB5X and the HERO 1 robots
were both designed as
education tools for learning
about computers
SURGICAL TOOLS
• Robots are performing many
surgical tasks
• In 1985, Dr. Yik San Kwoh
invented the robot-software
interface used in the first
robot-aided surgery
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THE HONDA
HUMANOID
Two-legged intelligent robot
capable of climbing stairs,
kicking a ball, pushing a cart, or
tightening a screw
SELF-POWERED
INSECTS
• Some robots mimic humans,
while others resemble lower
life forms
• Mark Tilden’s BEAM robots
look and act like big bugs
ENTERTAINING PETS
• There was a return to
consumer-oriented robots in
the late 90s
• Sony Corp. made AIBO, the
robotic dog, which can
autonomously navigate a
room and play ball
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HAZARDOUS DUTIES
• In 1994, the CMU Field
Robotics Center sent Dante II,
a tethered walking robot to
explore Mt. Spurr in Alaska
• Aids in dangerous recovery
of volcanic gases and
samples
• Defused bombs and
investigated nuclear accident
sites
RANGE OF ROVERS
• In the 1996 Sojourner was
sent to Mars – testing soil
composition, wind speed, and
water vapor quantities
• In 2004, twin robot rovers
was launched and sent back
amazing images in journeys
of kilometers, not meters
3 FUNDAMENTAL LAWS OF ROBOTICS
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1. A robot may not injure a human being or, through inaction, allow a human
being to come to harm
The term “robotics” was introduced by Isaac Asimov, a well- 2. A robot must obey the orders given by human beings, except when such
known science fiction writer, as science devoted to the study orders would conflict the first law
of robot based on three fundamental laws in his book I 3. A robot must protect its own existence, as long as such protection does not
Robot. conflict with the first or second law

ROBOT COMPONENTS AND SUBSYSTEMS CLASSIFICATION OF ROBOTS

• Robotic Manipulator
• Mechanical system, such as wheeled platforms, arm, or other construction,
• Wheeled Mobile Robots (WMR)
capable of interacting with its environment
• Legged Robots
• Actuation system provides capability to exert an action; animates the
mechanical componenets • Underwater Robots and Flying Robots
• Sensory system on or around the device that are able to sense the • Robot Vision
environment and give useful feedback to the device • Artificial Intelligence
• Control system command the execution of action • Industrial Automation

ROBOTIC MANIPULATOR ROBOTIC MANIPULATOR

• Robotic arms
• Useful and economical tools in manufacturing, medicine, and other industries
• Consists of a sequence of rigid bodies (links) interconnected by means of
articulations (joints)
• Arm (mobility), wrist (dexterity), end-effector (perform tasks)
• Joint: Prismatic or Revolute
• DOF: each prismatic or revolute joint provides 1 single DOF
• Workspace: represents the portion of the environment the end-effector can
access

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ROBOTIC MANIPULATOR CLASSIFICATION

Joints Workspace
Cartesian PPP Rectangular parallel-
piped
Cylinder RPP Portion of hollow
cylinder
Spherical RRP Portion of hollow
sphere
Articulated RRR Portion of sphere

WHEELED MOBILE ROBOTS (WMR) LEGGED ROBOTS

• Perform many tasks in industry and in the military • Locomotion is based on 3 different basic mechanisms:
• Slider
• Liver
• Wheel or track

LEGGED ROBOTS LEGGED ROBOTS

Choosing the mechanism for locomotion of a robot depends on: Benefits:

• Terrain on which the robot mainly moves • Better mobility
• Operational flexibility needed when working • Better stability on the platform
• Power and/or energy efficiency requirements • Better energy efficiency
• Payload capacity requirements • Smaller impact on the ground
• Stability
• Impact on the environment

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LEGGED ROBOTS LEGGED ROBOTS

• Use a motion control system – controls the motion of the body so that leg Two classes of Gait:
movements automatically generate the desired • Periodic gaits – repeat the same sequence of supporting leg
body movements configurations
- controls gait and foot placement to find the next • Nonperiodic or free gaits – do not have any periodicity in their gait
foothold pattern

UNDERWATER ROBOTS FLYING ROBOTS

• Camera-equipped underwater robots • Used effectively in military maneuvers
• Tracking of fish and searching for sunken ships • Often mimic the movements of insects

ROBOT VISION

• Great deal of effort has been devoted to providing machines with sensors
that mimic the capabilities of the human vision system
• Use vision-based sensors – capture the same raw information light that the
human vision system uses
• 2 current technologies for creating vision sensors: CCD and CMOS

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ARTIFICIAL INTELLIGENCE ARTIFICIAL INTELLIGENCE

• A branch of computer science and engineering that deals with intelligent Schools of Thought:
behavior, learning, and adaptation in machines • Conventional AI
• Concerned with producing machines to automate tasks requiring intelligent • Computational Intelligence (CI)
behavior
• An engineering discipline focused on providing solutions to real-life problems,
software applications, traditional strategy games (computer chess, video
games)

CONVENTIONAL AI COMPUTATIONAL INTELLIGENCE (CI)

• Also known as symbolic AI, logical AI, neat AI, and Good Old-Fashioned • Also known as nonsymbolic AI, scruffy AI, and soft computing
Artificial Intelligence (GOFAI)
• Involves iterative development or learning
• Methods include:
• Learning based on empirical data
Expert systems – apply reasoning capabilities to reach a conclusion
Case-based reasoning – previously solved problems are used to solve
similar cases
Bayesian networks – model representing possible states with probabilities
Behavior-based AI – modular method of building AI systems by hand

COMPUTATIONAL INTELLIGENCE (CI) INDUSTRIAL AUTOMATION

• Methods include:
Neural networks – systems with very strong pattern recognition capabilities
Fuzzy systems – techniques for reasoning under uncertainty
Evolutionary computation – applies biologically inspired concepts to
generate increasingly better solutions to problems
• Automation is the use of control systems, such as computers, to control industrial
machinery and processes, replacing human operators
• A step beyond mechanization

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