Fundamentals of Robotics

Robots at Sukkur IBA

Dr. Asif Khan Fundamentals of Robotics

We have different kinds of robots at Sukkur IBA
CRAIB Lab
Pepper robot

Nao robot

Jackal robot
Turtle bot robots

E-puck robots

Thymio robots

Ozobots robots
Programmable drones

Equipment for smart house

Controllers (Arduino and Raspberry Pi)

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 Pepper robot
• Version: 1.8 (early 2017)
• Height: 1.2 m (max: 1.35 m)
• Depth: 0.425 m (max: 0.65 m)
• Width: 0.48 m (max: 1.20 m)
• Weight: 27.8 kg

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 Pepper robot
• Sensors:
– Capacitive sensors on the head and the hands, 3 bumpers
– 4 directional microphones, accelerometer
– 2 RGB camera, 1 depth sensor in the eyes
– Tactile tablet

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 Pepper robot
• 2 Ultrasound
distance sensors

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 Pepper robot
• 2 Infrared
distance sensors

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 Pepper robot
• 3 laser sensors

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 Pepper robot
• 6 laser emitters

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 Pepper robot
• Actuators list:
– Head, arms, speakers
– HipRoll, HipPitch and KneePitch joints
– 3 holonomic wheels
• With:
– Real temperature probes for each motor
– Bigger battery (10-12h autonomy)
– Two LEDs on the shoulders
– LEDs around the eyes and ear speakers

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 Pepper robot
Highlights
• 20 degrees of freedom for natural and expressive movements.
• Speech recognition and dialogue available in 15 languages*.
– *English, French, Spanish, German, Italian, Arabic, Dutch...
• Perception modules to recognize and interact with the
person talking to him.
• Touch sensors, LEDs, and microphones for multimodal interactions
• Infrared sensors, bumpers, an inertial unit, 2D and 3D cameras,
and sonars for omnidirectional and autonomous navigation.
• Open and fully programmable platform.
• The touch screen on his chest displays content to highlight
messages and support speech.

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 Nao robot
Highlights
• 25 degrees of freedom, which enable him to move and adapt
to his environment.
• 7 touch sensors located on the head, hands and feet, sonars,
and an inertial unit to perceive his environment and locate
himself in space.
• 4 directional microphones and speakers to interact with
humans.
• Speech recognition and dialogue available in 20 languages*.
– *English, French, Spanish, German, Italian, Arabic, Dutch, Portuguese,
Czech, Finnish, Russian, Swedish, Turkish...
• Two 2D cameras to recognize shapes, objects and even people.
• Open and fully programmable platform.

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Nao robot (Sensors)

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Nao robot (Actuators)

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 Nao robot (Actuators)
• 25 degrees of freedom (21 for the RoboCup version)
– High precision coreless Maxon motors

• Angular sensors on each servomotor, with precision under

• 0.1 angular degree
• Temperature estimates based on current
– Nao says ’motor hot’ at 70 degrees C
– Security stops the motor at 80 degrees C

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 Nao robot (Sensors)
• A 3-axis accelerometer
• A 3-axis gyrometer (precision 5%, ang speed 500/s)
• 4 force-sensitive resistors (FSR) in each foot
– Value in kg
– Total weight on the foot
– Position of the center of pressure

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 Nao robot (Sensors)
• 2 digital HD cameras
• Field of view: 68.2⸰DFOV
• 57.2 ⸰ HFOV horizontal
• 44.3 ⸰ VFOV
• Focus type: autofocus
• Camera output: 480p at
30fps

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 Nao robot (Sensors)
• Sonar Sensor
• 2 Transmitters on front
• 2 Receivers on front
• Frequency 40 kHz
• Resolution 1 cm - 4 cm
• Detection 0.20 m
to 0.80 m

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 Nao robot (Computer)
• Motherboard
– ATOM E3845 1.91 GHz
– CPU Quad core
– 4 GB DDR3 RAM
– 32 GB SSD
• Audio
• Omnidirectional microphones (-12dB) + Audio codec
• Loudspeakers: Seltech 40S19 custom
• Languages text to speech and Automatic Speech Recognition
– Czech, Danish, Dutch, English, Finnish, French, German,
– Italian, Japanese, Greek, Polish, European Portuguese,
– Brazilian Portuguese, Spanish, Swedish, Russian, Turkish,
– Arabic, Brazilian, Standard Mandari

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Nao robot

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Jackal robot

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Jackal robot

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 TurtleBot robot
• TurtleBot is a low-cost, personal robot kit with open-
source software.
• TurtleBot was created at Willow Garage by Melonee
Wise and Tully Foote in November 2010.
• With TurtleBot, you’ll be able to build a robot that can
drive around your house, see in 3D, and have enough
horsepower to create exciting applications.

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TurtleBot robot

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TurtleBot robot

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 E-puck robot
• E-puck is a miniature mobile robot originally developed at EPFL for
teaching.
• The hardware and software of e-puck is fully open source, providing
low level access to every electronic device and offering unlimited
extension possibilities.
• The model includes support for
– differential wheel motors (encoders are also simulated, as position sensors)
– infra-red sensors for proximity and light measurements
– Accelerometer
– Gyro
– Camera
– 8 surrounding LEDs
– body and front LEDs
– bluetooth communication (modeled using Emitter / Receiver devices) and
ground sensors extension.

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E-puck robot

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 Thymio robot
• Thymio is an open-source educational robot designed by
researchers from the EPFL, in collaboration with ECAL, and
produced by Mobsya, a nonprofit association whose mission is to
offer comprehensive, engaging STEAM journeys to learners of all
ages.
• To program Thymio, you must first download and install the
software, then connect your robot (turn it on, then connect it via
cable or wireless dongle). The official programming languages of
Thymio are : VPL.

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Thymio robot

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 Ozobot robot
• Ozobot is a smart robot that can follow lines or roam around freely,
detect colors, and can be programmed using visual codes.
• Your students will learn hands-on about robotics, math and
programming.
• Ozobot teaches them in a fun way, so they learn while being
engaged and playing.
• Codig Ozobot robot
– https://www.youtube.com/watch?v=VBdBG1TSgR8

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 Lynx manipulator
• The AL5A robotic arm delivers fast, accurate, and repeatable movement.
• The robot features: base rotation, single plane shoulder, elbow, wrist motion, a
functional gripper, and optional wrist rotate.
• The AL5A robotic arm is an affordable system with a time-tested rock-solid design
that will last and last. Everything needed to assemble and operate the robot is
included in the kit, with several different software control options.
• http://www.lynxmotion.com/c-124-al5a.aspx

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 MIRO robot
• MIRO is an autonomous robot platform targeted equally at the research lab and the
classroom.
• It is the first robot in a development program that aims to accelerate progress in
social and companion robotics research and to foster public engagement with
robots, from the bottom up.
• MIRO also makes a great showpiece, demonstrating as it does the engaging nature
of robots built on biological principles of morphology and behavior.
• MIRO is particularly suited for developing companion robots—
– the future social robots that will share our personal spaces, interact with each other and provide emotional
engagement and entertainment. However, as an accessible, rich, and affordable platform.

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Miro robot

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Miro robot

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 Miro robot
• Movement
– The MIRO platform is built around a core of a differential drive base and a three Degrees of Freedom (DoF)
(lift, pitch, yaw) neck. Additional DoFs include rotation for each ear, tail droop and wag, and eyelid
open/close. All DoFs are equipped with proprioceptive sensors (potentiometers for absolute positions and
optical shaft encoders for wheel speed). An on-board speaker is also available to generate sound output.

• Sensing
– Stereo cameras in the eyes and stereo microphones in the base of the ears are complemented by a sonar
ranger in the nose. In the body, four light level sensors are placed at each corner of the base, two 'cliff
sensors' point down from its front face, four capacitive sensors are arrayed along the inside of the body
shell providing sensing of direct human contact and an additional four capacitive sensors over the top and
back of the head (behind the ears). Interoceptive sensors include twin accelerometers, a temperature
sensor, and battery voltage monitoring.

• Control
– MIRO's control architecture is based on twenty years of high level research on animal brains and behaviour
giving it the first truly brain-like control system distributed across three embedded ARM processors.
Interacting with this "biomimetic core" is a quick way to get started down the road of biomimetic robotics.
However, MIRO is also happy to be an obedient robot platform, if the application requires it. Through Wi-Fi
you can control MIRO remotely and/or stream data from its sensory systems and internal state, or you can
install control software on-board to make MIRO entirely independent. MIRO exposes its interface as a ROS
(Robot Operating System) node.

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CoDrone

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 CoDrone
• The CoDrone Pro/Lite is just the drone itself, which you can program in Blockly or
Python. The Pro includes a buildable Arduino remote, which allows you to build and
program a remote in Arduino code.
• Features
– On-Board Sensors – Capabilities
• Gyroscopes • Self-stabilization
• Accelerometers • Altitude hold
• Barometer • Bluetooth smartphone control
• IR sensors • Sensor data feedback
Optical flow sensor
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– Smart Inventor Board
– Other Features • 7 digital IR sensors
• Customizable controller • 3 analog IR sensors
• Additional controller pins • 4 DC motor ports
• Easily removable and replaceable parts • 5 analog SVG pins
• Programmable onboard LEDs • 5 digital SVG pins
• Arduino IDE with online lessons and support • 1 buzzer
• 8 LEDs

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End

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