robotics101.ppt
TRANSCRIPT
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1chung
Robotics 101for Robofest
May 2005
CJ ChungLawrence Tech / Computer Science
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2chung
What is a Robot?What is a Robot? A remote-controlled machine is a robot:
True or False?
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3chung
What is a Robot?What is a Robot?A machine whose behavior can be
programmed …Then, is a VCR a robot?
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4chung
What is a Robot?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
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5chung
Introducing Roomba!
Vacuum Cleaner Robot
AffordableVirtual Wall
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6chung
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
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7chung
RobotaRobota 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. The play RUR featured robots that The play RUR featured robots that
nearly took over the world.nearly took over the world.They stopped only when they could not They stopped only when they could not answer the question:answer the question:
““What do we do after we have What do we do after we have destroyed all of the humans?”destroyed all of the humans?”
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8chung
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
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9chung
Definition: (Autonomous) RobotA mobile computer situated in the
real world interacting with the environment through sensors and actuators in order to perform various intelligent tasks without without constant attentionconstant attention
Real robots do not need joy stick Real robots do not need joy stick remote controls!remote controls!
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10chung
Definition: “Robotics”
The science of building and programming robots
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11chung
Robots for Robots for 3D3D Jobs Jobs
DangerousDullDirty
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12chung
G. Walter’s Robot – The first Robot 1948, 1953A wheeled machine with motorsPhotocellsTwo vacuum tubesMoved toward light if moderate
intensityAvoided bright light
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13chung
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14chung
Lots of Robots after Walter’s Robot …
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15chung
Lots of Robots after Walter’s Robot …
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16chung
Lots of Robots after Walter’s Robot …
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17chung
Lots of Robots after Walter’s Robot …
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18chung
Lots of Robots after Walter’s Robot …
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19chung
Lots of Robots after Walter’s Robot …
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20chung
Lots of Edutainment Robots after Walter’s Robot …
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21chung
First Raffle Ticket chosen by a Mobile Autonomous Robot [chung 4-15-00]
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22chung
First Ribbon Cutting by an Lego Autonomous Mobile Robot [chung 01]
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23chung
Lawrence Tech AIBO Robot soccer team
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24chung
A police robot extends a telephone to a red van parked on 15th Street and Pennsylvania Avenue near the White House Tuedsay, Jan. 18, 2005 in Washington. A man upset over custody of his child threatened to blow up his van a block from the White House on Tuesday, prompting a standoff with police, the FBI
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25chung
Weaponized robot, also known as SWORDS, in Englewood Cliffs, N.J., Friday, Jan. 14, 2005.
The Pentagon's research arm, the Defense Advanced Research Projects Agency, also recently awarded contracts to aid research of robots that one day could be dropped into combat from airplanes and others meant to scale walls using electrostatic energy — also known as "static cling."
Many of the vehicles being developed will have some autonomy, meaning they'll navigate rough terrain, avoid obstacles and make decisions about certain tasks on their own.
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26chung
… Humanoid Robots
Honda's "ASIMO" Rings Opening Bell at the NYSEFebruary 15, 2002
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27chung
More Humanoid Robots: SONY QRIO
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28chung
Design principles of autonomous agents, Rolf Pfeifer, 1996Autonomous – Have to solve tasks
without human interventionSelf-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
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29chung
Fundamental Components of Fundamental Components of Autonomous RobotsAutonomous Robots
A brain (or brains)A brain (or brains) Body: physical chassis that holds Body: physical chassis that holds
other piecesother pieces Actuators: allows to move. Motors, Actuators: allows to move. Motors,
hydraulic pistons, lamps, etchydraulic pistons, lamps, etc SensorsSensors Power sourcePower source Communication
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30chung
Body: Mechanical Design ProblemsMovement: Changing locationSteering: Changing directionNavigation: Determining location
(very difficult task)
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31chung
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
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32chung
PivotingAlso known as Zero-turn radius
steering Independent left and right wheelsExamples: Bulldozers and TanksTwo driving wheels and a rear idle
wheelE.g.) Lego Roverbot
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33chung
Gearing
Proper Gear SpacingGear 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
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34chung
Sensors of Human
EyesEarsNoseSkinTongueEquilibrium: Balance… 6th sense(?)
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35chung
Robot Sensor Types Passive Sensors (does not require
power supply)•Touch•Temperature•Balance•…
Active Sensors (require power supply)•Light•Distance•Rotation•Sonar•…
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36chung
How to develop Intelligent Robots?The most difficult taskDeveloping intelligent and adaptive
software is the key
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37chung
Why Robotics in Classes?
Multi-disciplinary learning: all STEM (Science, Technology, Engineering, and Math) subjects
Develops critical thinkingProvides co-operative learning
environmentTeaches real-life lessons, not virtual
fantasy