Mobile & Service Robotics Mobile & Service Robotics Introduction and Locomotio Introduction and Locomotion Introduction and Locomotio Introduction and Locomotion Basilio Bona 1 ROBOTICA 03CFIOR
Definitions � A mobile robot is a structure capable to move (autonomously or tele ‐ operated) in terrestrial, underwater or aerial environments � Environments my be � totally structured, partially structured or unstructured � totally known, partially known or unknown � Structured environment = one knows the type and the geometric characteristics of the environment � office space: corridors, doors, chairs, tables, etc. � obstacles: static or dynamics or both y � constant or varying in time Basilio Bona 2 ROBOTICA 03CFIOR
Autonomy � Autonomy is the ability to move independently from a human supervisor � It requires q � Intelligence � CPU, database, algorithms , , g � onboard or outboard (tele ‐ guided by radio beams or cable) � Sensors � Actuators (for motion and manipulation, etc.) � Energy: onboard generated or supplied by an “umbilical cord” gy g pp y Basilio Bona 3 ROBOTICA 03CFIOR
Examples partially structured partially structured structured unstructured Basilio Bona 4 ROBOTICA 03CFIOR
Fundamental problems � Locomotion and perception � Locomotion and perception � Localization � Environment representation and action/path planning � � Mapping i � Control Basilio Bona 5 ROBOTICA 03CFIOR
Locomotion � Terrestrial robots � Wheeled � Legged � Mixed wheels/legs � Biped (humanoids) � Biped (humanoids) � Others (biomimetics = imitation of natural locomotion) � Underwater robots � Propellers � Water jets � Aerial robots � Fixed wings � Rotating wings � Rotating wings � Airships and dirigibles � Flapping wings Flapping wings Basilio Bona 6 ROBOTICA 03CFIOR
Terrestrial Robots – wheeled Basilio Bona 7 ROBOTICA 03CFIOR
Terrestrial Robots – legged Basilio Bona 8 ROBOTICA 03CFIOR
Terrestrial Robots – “humanoids” Basilio Bona 9 ROBOTICA 03CFIOR
Underwater Robots � To move they use � Screws or propellers � Water jets � Fins or entire body motion Basilio Bona 10 ROBOTICA 03CFIOR
Aerial robots (UAV) � Airship (lighter than air) or aircrafts (heavier than air) � They use � Propellers � Rotating wings � Flapping wings Basilio Bona 11 ROBOTICA 03CFIOR
Natural Locomotion Longitudinal waves Transversal waves Running Jumping Jumping Step Basilio Bona 12 ROBOTICA 03CFIOR
Biomimesis biomimetic systems = nature imitation y Longitudinal waves Longitudinal waves Transversal waves Transversal waves Basilio Bona 13 ROBOTICA 03CFIOR
Biomimesis Basilio Bona 14 ROBOTICA 03CFIOR
Mobile Robots: topics treated � Wheeled robots � Kinematics � Sensors � Absolute and relative position (odometry) Absolute and relative position (odometry) � Speed � Proximity and distance � Proximity and distance � Active ranging � Vision � Vision � Intelligence Basilio Bona 15 ROBOTICA 03CFIOR
Wheel Types � Simple non steering wheels � Simple steering wheels p g � Castor wheel � Omniwheel (omnidirectional wheel) or Swedish wheel � Omniwheel (omnidirectional wheel) or Swedish wheel � Spherical omniwheel � Wheel may be active or passive Basilio Bona 16 ROBOTICA 03CFIOR
Simple non steering wheel � � ( ) β t � β β t = t = ( ) ( ) 0 0 ω ( ) ( ) t ⊥ = v ( ) t 0 = ω v ( ) ( ) t r ( ) ( ) t graphical scheme graphical scheme Basilio Bona 17 ROBOTICA 03CFIOR
Simple non steering wheel Basilio Bona 18 ROBOTICA 03CFIOR
Simple steering wheel � β ( ) β t ≠ ( ) 0 � β ( ) β ( ) t t ω ( ) ( ) t ⊥ ⊥ = v ( ) ( ) t 0 = ω v ( ) t r ( ) t graphical scheme Basilio Bona 19 ROBOTICA 03CFIOR
Simple steering wheel top view front view front view side view Basilio Bona 20 ROBOTICA 03CFIOR
Castor Wheel Basilio Bona 21 ROBOTICA 03CFIOR
Castor Wheel Basilio Bona 22 ROBOTICA 03CFIOR
Omniwheel – Swedish Wheel Basilio Bona 23 ROBOTICA 03CFIOR
Omniwheel – Swedish Wheel a) b) Basilio Bona 24 ROBOTICA 03CFIOR
Omniwheel Basilio Bona 25 ROBOTICA 03CFIOR
Omniwheel Omniwheel can also be used as a support in a differential drive robot Basilio Bona 26 ROBOTICA 03CFIOR
Omnidirectional Spherical Wheel passive supports active supports ti t active supports active supports passive supports i t Basilio Bona 27 ROBOTICA 03CFIOR
Wheels Symbols passive castor wheel simple passive non steering wheel simple passive steering wheel l h l active castor wheel ominidirectional wheel simple active non steering wheel passive spherical wheel simple active steering wheel p g active spherical wheel active spherical wheel Basilio Bona 28 ROBOTICA 03CFIOR
Wheels Symbols Basilio Bona 29 ROBOTICA 03CFIOR
Typical structures Active fixed wheels + castor passive wheel Active fixed wheels + steering wheel Basilio Bona 30 ROBOTICA 03CFIOR
Typical structures Differential wheels + passive spherical wheels Basilio Bona 31 ROBOTICA 03CFIOR
Typical structures Fixed active wheel + passive omnidirectional wheel Active omnidirectional wheels Basilio Bona 32 ROBOTICA 03CFIOR
Typical structures Omnidirectional active wheels Omnidirectional active wheels Basilio Bona 33 ROBOTICA 03CFIOR
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