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Robotics 101

Robotics 101 for Robofest May 2005

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Robotics 101

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    1. 1 chung Robotics 101 for Robofest May 2005 CJ Chung Lawrence Tech / Computer Science 40min, 20min40min, 20min

    2. 2 chung Show remote control car; then show vacuum cleaner; also show the lawn mower videoShow remote control car; then show vacuum cleaner; also show the lawn mower video

    3. 3 chung What is a Robot? A machine whose behavior can be programmed … Then, is a VCR a robot? Show remote control car; then show vacuum cleaner; also show the lawn mower videoShow remote control car; then show vacuum cleaner; also show the lawn mower video

    4. 4 chung What is a Robot? Is a tethered machine a robot? Surprisingly, there is no exact definition of a robot Today, people use ‘robot’ for almost any machine designed to be clever Show remote control car; then show vacuum cleaner; also show the lawn mower videoShow remote control car; then show vacuum cleaner; also show the lawn mower video

    5. 5 chung Introducing Roomba! Vacuum Cleaner Robot www.irobot.com Affordable Virtual Wall

    6. 6 chung Autonomous Robot Mower, Another example of autonomous robots Hitachi H8S/300H (Cf. Lego RCX: H8/3292) 16 bit micro controller (Cf. Lego RCX: 8bit) Written in C with Real-time Operating System The memory space of the CPU is 16Mbyte in which we use 128K Program ROM and 512Kram Lego: 16K ROM, 16K Firmware, 32K external RAM for 5 user program slots The memory space of the CPU is 16Mbyte in which we use 128K Program ROM and 512Kram Lego: 16K ROM, 16K Firmware, 32K external RAM for 5 user program slots

    7. 7 chung Robota The term robot originates from the Czech word, robota, meaning “compulsory labor (or slave)” From the play R.U.R. (Rossum’s Universal Robots) by Czech play writer Karel Capek in 1921.

    8. 8 chung Three Laws of Robotics In 1942, Issac Asimov, An American science fiction writer, introduced the word “robotics” in his short story Law 1: A robot may not injure a human being, or, through inaction, allow a human being to come to harm Law 2: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law Law 3: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law Law 2 says: you cannot order a robot to kill Law 2 says: you cannot order a robot to kill

    9. 9 chung Definition: (Autonomous) Robot A mobile computer situated in the real world interacting with the environment through sensors and actuators in order to perform various intelligent tasks without constant attention Real robots do not need joy stick remote controls!

    10. 10 chung Definition: “Robotics” The science of building and programming robots FIRST Robotics Team – wrong, since they do not program robots!FIRST Robotics Team – wrong, since they do not program robots!

    11. 11 chung Robots for 3D Jobs Dangerous Dull Dirty

    12. 12 chung G. Walter’s Robot – The first Robot 1948, 1953 A wheeled machine with motors Photocells Two vacuum tubes Moved toward light if moderate intensity Avoided bright light

    13. 13 chung D.C.D.C.

    14. 14 chung Lots of Robots after Walter’s Robot … Klaus, the driving robot by Volkswagen gets his permit, 2000, three arms and three legsKlaus, the driving robot by Volkswagen gets his permit, 2000, three arms and three legs

    15. 15 chung Lots of Robots after Walter’s Robot … Klaus, the driving robot by Volkswagen gets his permit, 2000, three arms and three legsKlaus, the driving robot by Volkswagen gets his permit, 2000, three arms and three legs

    16. 16 chung Lots of Robots after Walter’s Robot … Klaus, the driving robot by Volkswagen gets his permit, 2000, three arms and three legsKlaus, the driving robot by Volkswagen gets his permit, 2000, three arms and three legs

    17. 17 chung Lots of Robots after Walter’s Robot … Klaus, the driving robot by Volkswagen gets his permit, 2000, three arms and three legsKlaus, the driving robot by Volkswagen gets his permit, 2000, three arms and three legs

    18. 18 chung Lots of Robots after Walter’s Robot … Klaus, the driving robot by Volkswagen gets his permit, 2000, three arms and three legsKlaus, the driving robot by Volkswagen gets his permit, 2000, three arms and three legs

    19. 19 chung Lots of Robots after Walter’s Robot … Klaus, the driving robot by Volkswagen gets his permit, 2000, three arms and three legsKlaus, the driving robot by Volkswagen gets his permit, 2000, three arms and three legs

    20. 20 chung Lots of Edutainment Robots after Walter’s Robot … Klaus, the driving robot by Volkswagen gets his permit, 2000, three arms and three legsKlaus, the driving robot by Volkswagen gets his permit, 2000, three arms and three legs

    21. 21 chung First Raffle Ticket chosen by a Mobile Autonomous Robot [chung 4-15-00]

    22. 22 chung First Ribbon Cutting by an Lego Autonomous Mobile Robot [chung 01]

    23. 23 chung Lawrence Tech AIBO Robot soccer team

    24. 24 chung

    25. 25 chung

    26. 26 chung … Humanoid Robots

    27. 27 chung More Humanoid Robots: SONY QRIO

    28. 28 chung Design principles of autonomous agents, Rolf Pfeifer, 1996 Autonomous – Have to solve tasks without human intervention Self-sufficient – They have to be able to sustain themselves over extended period of time Embodied – must be realized as a physical system capable of acting in the real world Situated – The whole interaction with the environment must be controlled by the agent itself

    29. 29 chung Fundamental Components of Autonomous Robots A brain (or brains) Body: physical chassis that holds other pieces Actuators: allows to move. Motors, hydraulic pistons, lamps, etc Sensors Power source Communication

    30. 30 chung Body: Mechanical Design Problems Movement: Changing location Steering: Changing direction Navigation: Determining location (very difficult task) Wisconsin: Where I am? Burger King!Wisconsin: Where I am? Burger King!

    31. 31 chung Steering Mechanisms: Pivoting, Turning, and Walking Pivoting: see next slide Turning Today’s Cars are excellent example of turning steering Tricycles use a front wheel drive system Bicycles use a rear wheel drive system Walking: Very difficult to realize… Four+ legged Biped

    32. 32 chung Pivoting Also known as Zero-turn radius steering Independent left and right wheels Examples: Bulldozers and Tanks Two driving wheels and a rear idle wheel E.g.) Lego Roverbot

    33. 33 chung Gearing Proper Gear Spacing Gear Reduction 16 tooth : 16 tooth – 1:1 16 tooth : 40 tooth – 2:5 16 tooth : 8 tooth – 2:1 Worm Gear: n-to-1 reduction. Cannot be back-driven! Pulley Wheels Driver : followerDriver : follower

    34. 34 chung Sensors of Human Eyes Ears Nose Skin Tongue Equilibrium: Balance … 6th sense(?) Smart sensor, evolution of sensorsSmart sensor, evolution of sensors

    35. 35 chung Robot Sensor Types Passive Sensors (does not require power supply) Touch Temperature Balance … Active Sensors (require power supply) Light Distance Rotation Sonar …

    36. 36 chung How to develop Intelligent Robots? The most difficult task Developing intelligent and adaptive software is the key

    37. 37 chung Why Robotics in Classes? Multi-disciplinary learning: all STEM (Science, Technology, Engineering, and Math) subjects Develops critical thinking Provides co-operative learning environment Teaches real-life lessons, not virtual fantasy

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