ROBOTICS 01PEEQW Basilio Bona DAUIN Politecnico di Torino What - PowerPoint PPT Presentation

ROBOTICS 01PEEQW Basilio Bona DAUIN – Politecnico di Torino

What is Robotics? Robotics is the study and design of robots Robots can be used in different contexts and are classified as 1. Industrial robots 2. Humanoid & biomimetic robots 3. Service robots 4. Exploration robots 5. Service & exploration robots can be a) wheeled (rovers) b) flying (UAS,UAV, Quadcopters, etc.) c) legged There is a partial overlapping of these classes Basilio Bona 2 ROBOTICS 01PEEQW - 2016/2017

What is Robotics? Definitions of Robot � According to Robotics Institute of America � A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed functions for the performance of a variety of tasks. � Oxford American Dictionary � A machine capable of carrying out a complex series of actions automatically, programmed by a computer � Merriam-Webster Dictionary � 1. A machine that looks and acts like a human being. 2. An efficient but insensitive person. 3. A device that automatically performs repetitive tasks. 4. Something guided by automatic controls Basilio Bona 3 ROBOTICS 01PEEQW - 2016/2017

Robot The term robot , derived from the Slav term robota = executive labor , was introduced in 1920 by the Czech playwright Karel Čapek in the play “Rossum’s Universal Robots” But the concept behind a robot appeared several years before any real robot was built Basilio Bona 4 ROBOTICS 01PEEQW - 2016/2017

Timeline Basilio Bona 5 ROBOTICS 01PEEQW - 2016/2017

Timeline � 1818-1942: robots are described either in novels and plays or in science fiction stories (Frankenstein, RUR, Asimov, …) Basilio Bona 6 ROBOTICS 01PEEQW - 2016/2017

Timeline � 1945: tele-manipulators used for nuclear products processing Basilio Bona 7 ROBOTICS 01PEEQW - 2016/2017

Timeline � 1948: Grey Walter (UK) builds “turtle robots” Elmer and Elsie Basilio Bona 8 ROBOTICS 01PEEQW - 2016/2017

Timeline � 1956: Unimation is the first industrial robot firm � 1961: first robot on GM car lines Basilio Bona 9 ROBOTICS 01PEEQW - 2016/2017

Timeline � 1970: SRI Shakey Shakey was the first mobile robot to reason about its actions. Developed by SRI's (Stanford Research Institute) Artificial Intelligence Center from 1966 through 1972. Shakey has had a substantial legacy and influence on present-day artificial intelligence and robotics. � Shakey had a TV camera, a triangulating range finder, and bump sensors, and was connected to DEC PDP-10 and PDP-15 computers via radio and video links. � Shakey used programs for perception, world-modeling, and acting. � Low-level action routines took care of simple moving, turning, and route planning. Intermediate level actions strung the low level ones together in ways that robustly accomplished more complex tasks. � The highest level programs could make and execute plans to achieve goals given it by a user. � The system also generalized and saved these plans for possible future use. Basilio Bona 10 ROBOTICS 01PEEQW - 2016/2017

Timeline � 1975: PUMA manipulator Basilio Bona 11 ROBOTICS 01PEEQW - 2016/2017

Timeline � 1979: Stanford cart Basilio Bona 12 ROBOTICS 01PEEQW - 2016/2017

Timeline � 1999: Sony AIBO Basilio Bona 13 ROBOTICS 01PEEQW - 2016/2017

Timeline � 2000: Honda Asimo Basilio Bona 14 ROBOTICS 01PEEQW - 2016/2017

Timeline � 2004: Mars rovers Spirit & Opportunity Basilio Bona 15 ROBOTICS 01PEEQW - 2016/2017

Timeline � 2006-7: DARPA Challenge Basilio Bona 16 ROBOTICS 01PEEQW - 2016/2017

Timeline � 2015: DARPA Robotics Challenge Basilio Bona 17 ROBOTICS 01PEEQW - 2016/2017

Timeline � 2015: DARPA Robotics Challenge Basilio Bona 18 ROBOTICS 01PEEQW - 2016/2017

Timeline � 2015: DARPA Robotics Challenge Basilio Bona 19 ROBOTICS 01PEEQW - 2016/2017

Timeline � 2015: DARPA Robotics Challenge Basilio Bona 20 ROBOTICS 01PEEQW - 2016/2017

Timeline � 2017 … Basilio Bona 21 ROBOTICS 01PEEQW - 2016/2017

Industrial robots � Similar to human arms with wrist and a final “hand” for holding tools � Rigid mechanical structure to guarantee accuracy and precision (repeatability) � 5-6 (rarely 7) dof � Internal (proprioceptive) joint sensors only *recent developments include vision sensors � High payloads � Reduction gears � Well known and quasi-static environment � Strict safety requirements � Externally supplied power Basilio Bona 22 ROBOTICS 01PEEQW - 2016/2017

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Humanoid robots � Similar to human body with a torso, two arms, two legs, 2-5 fingered hands � Complex mechanical structure to guarantee stable bipedal motion � Many dofs � Internal and external sensors � Low payloads � Reduction gears or direct drives � Unknown and changing environment: land only � Limited autonomy � Safety requirements TBD � HMI and social acceptance issues Basilio Bona 27 ROBOTICS 01PEEQW - 2016/2017

Examples from DRC 2013 Basilio Bona 28 ROBOTICS 01PEEQW - 2016/2017

Many onboard sensors Basilio Bona 29 ROBOTICS 01PEEQW - 2016/2017

Examples Basilio Bona 30 ROBOTICS 01PEEQW - 2016/2017

Future trends Basilio Bona 31 ROBOTICS 01PEEQW - 2016/2017

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Biomimetic robots � Similar to animals, insects, fishes, birds, etc. � May have more than two legs, no legs at all, wings, fins; can walk, crawl, swim, fly � Internal and external sensors � Low – medium payloads, depending on structure � No safety requirements � Unknown and changing environment: sea, air, land Basilio Bona 34 ROBOTICS 01PEEQW - 2016/2017

Service robots � May have different motion structures: mostly wheeled (differential drives or 4-wheels), but UAVs are becoming popular � Mechanical structure is important, but software is a critical issue � Internal and external sensors � Cameras (single, stereo 3D, ToF, omnidirectional) � Laser scanners and Lidars � Proximity sensors � Special purpose, e.g., thermo-cameras � Low to medium size payloads (according to use) � HMI is important � Unknown and changing environment: indoor (flat), outdoor (land, air, underwater) � Privacy and legal issues important Basilio Bona 35 ROBOTICS 01PEEQW - 2016/2017

UAVs � Unmanned Aerial (or Autonomous) Vehicles are known due to their use as military drones, but now “quadcopters” are very common � Civil applications are becoming important � surveillance and patrolling of large structures and sites � disaster area analysis; search and rescue (SAR) � agricultural and environmental remote sensing � leisure: commercial and filmmaking � material transport � Mainly outdoor, but indoor use is gaining interest � Unknown environment � Limited payload � Limited autonomy (battery life is critical) and often tele-operated � Mostly vision sensors (lightweight) � Privacy and legal issues important Basilio Bona 36 ROBOTICS 01PEEQW - 2016/2017

Examples Basilio Bona 37 ROBOTICS 01PEEQW - 2016/2017

Exploration robots � Used for planetary or deep space exploration � e.g., Spirit, Opportunity, Curiosity, future Moon and Mars rovers � Some used for underwater or harsh environments (volcanoes, Antarctica exploration, etc.) � Usually tele-operated, but partial autonomy necessary due to long time delays between Earth and Mars Basilio Bona 38 ROBOTICS 01PEEQW - 2016/2017

Course content – 1 � Kinematic Chains: constitutive elements; KC types: open, closed; KC dofs: redundant, non redundant chains � Industrial robot types: arms and wrists � Kinematic chains: algorithms for fast computation of direct and inverse position and velocity kinematic functions � Denavit-Hartenberg conventions and DH parameters � Homogeneous matrices � Jacobian matrices � Statics: kineto-static relations � Dynamics: Lagrange equations, general form for control � Control algorithms: independent joints linear control, MIMO nonlinear control Basilio Bona 39 ROBOTICS 01PEEQW - 2016/2017

Course content – 2 � Wheeled rovers � structures, � differential drive kinematics � non-holonomy � odometry issues � Onboard sensors: some types will be briefly analyzed � Mapping, localization and SLAM issues � Path planning Basilio Bona 40 ROBOTICS 01PEEQW - 2016/2017