Introduction to Robotics
ENGR450 Robotics
First Day Presentation
August 2008
Matthew Stein
What is a robot?
FANUC is definitely
a robot, right?
What is and is not a
robot?
Let’s attempt a
formal
definition…..
A mechanical device which uses
sensors and actuators to perform
a useful task?
Articulated mechanical device
with multiple degrees of
freedom?
Computer controlled mechanical
device?
No!
Hmm, maybe?
A complex, computer controlled,
multiple degree of freedom
mechanical device which
performs its function
autonomously?
A complex, programmable,
computer controlled mechanical
device with servo-control of
multiple degrees of freedom?
Numerically Controlled Lathe
ISO Standard Definition:
A robot is an automatic, servo-controlled,
freely programmable, multi-purpose
manipulator with several degrees of freedom.
Variably programmed operations make
possible execution of a multiplicity of tasks.
Early SCARA robot
Is this a robot?
Medical sample robots
Are these robots?
History of Robots?
Origin of the word “robot”
• Czech word “robota”–
drudgery,“robotnik” –
peasant
• 1923 play by Karel
Capek–Rossum’s
Universal Robots
• Often referred to as
“RUR”
RUR Synopsis
• Protoplasm based
• Context: Marxist
Revolution
• Machines created as
servants
• Get tired of their lot and
attempt to take over the
world
Metropolis 1927
Literature
• 1940-50’s I, Robot by Issac Asimov
• 3 Laws of robotics (paraphrase)
– Robot may not harm a human, or through inaction
allow a human to become harmed
– Robot must obey human commands except when in
conflict with law one
– Robot must ensure its own safety except when in
conflict with first two laws
• Hardcore SF read by the geeky
Bella Legosi Early 50’s,
I don’t know
Forbidden Planet
1
9
5
6
!
Lost in space
1960’s TV series
Silent Running
1971
Bruce Dern
Hewey, Dewey and
Louie
1977
Saturn 3 - 1980
1984
Huh?
Metropolis 1927
Short Circuit
1986
RobotCop
1987
1993
3D Biped
1993
Short Circuit
1986
2004
• Mechanical men
• Created as servants
• Get tired of their lot and
attempt to take over
• Huh?
RUR Synopsis
• Protoplasm based
• Context: Marxist
Revolution
• Created as servants
• Get tired of their lot and
attempt to take over
Real Robots
Some slides taken from
Categories of Robots
• Manipulation Robots
– Fixed base
– Dexterous manipulation capability
Categories of Robots
• Locomotion Robots
– Primarily navigate and sense
– Limited manipulation capability
History
• 1978 The first PUMA
(Programmable
Universal Machine for
Assembly) robot is
developed by
Unimation for General
Motors
History
• 1982 IBM 7535 Manufacturing System
History
• 1983 Westinghouse Electric Bought Unimation
• Became part of Manufacturing Automation division
• Never profitable, later sold to Staubli Automation
History
• 1987 I bought my first
PUMA
• 1990-93 Hitachi Ninja
• Control problems dominate
• Computation not available
Dante 1995
Automatically Piloted Vehicle 1998
Sojourner
1998
What’s the problem?
Why not more examples of functional robots?
What aren’t robots building toasters by now?
•
•
•
•
Dynamic Balance
Vision/sensing
Dexterous manipulation w/ finite power
Batteries/tether
Most
walking
robots use
statically
stable gate
Flamingo (MIT)
1995-2000
Harness for safety,
true dynamically
balancing robot
What robot could you buy today?
• Modern cousins of early manipulation robot
• These cost > $100,000
• Sleeker/better design
• Basic principles unchanged
– Multi-DOF arm attached rigidly to the floor
– PUMA early example
Latest Robotics Research® Arm
Vacuum
Home Robots
Spy-Cye
Honda ASIMO
$1,000,000
Sony Qiro
$40,000
What’s the latest research?
•Hazardous environments
•Service Robots
•Human/Robot Interaction •Expensive environments
•Education
•Household Robots
Kinda robotics-ish technology integrated into
human-operated appliances
Anthropomorphic/Humanoid
Robonaut
Insect-inspired robots
Tiny Robots, Swarms
Nanorobots
In the “not really robots”
category
“Robotics” contest contraptions
FIRST
Kickboxing
Robot Wars
Entertainment bots
available for parties,
trade shows etc.
Toys – give me a break
Crackpot robots
“Robby”
Homework assignment (10 pts)
•
Research the WWW and find :
1. One example of a real, working robot meeting ISO
definition
–
–
–
Academic research labs
Spin-off companies
Industrial equipment manufacturers
2. One example of something called a robot that does not
meet ISO definition
•
•
•
•
Crack pots
Toys
Entertainment
You will find hundreds of sites
Homework Assignment (cont’d)
• Use Discussion Board section in BlackBoard
• Bonus 10 points for finding a working robot I
have never heard of (I’ll be fair)
• You are prohibited from using
– the robots in this slide show or
– Already used by classmate
• Do this by Friday – I’ll share results