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Introduction to Robotics

Introduction to Robotics. ECE 450. A Short History of Robots (Robot Timeline). an ancient Greek engineer named Ctesibus made organs and water clocks with movable figures. . ~270BC.

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Introduction to Robotics

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  1. Introduction to Robotics ECE 450

  2. A Short History of Robots(Robot Timeline) an ancient Greek engineer named Ctesibus made organs and water clocks with movable figures. ~270BC Leonardo da Vinci designed and possibly built the first humanoid robot. The robot was designed to sit up, wave its arms, and move its head via a flexible neck while opening and closing its jaw. 1495 Mary Shelley wrote "Frankenstein" which was about a frightening artificial life form created by Dr. Frankenstein. 1818 The term "robot" was first used in a play called "R.U.R." or "Rossum's Universal Robots" by the Czech writer Karel Capek. The plot was simple: man makes robot then robot kills man! 1921 Science fiction writer Isaac Asimov first used the word "robotics" to describe the technology of robots and predicted the rise of a powerful robot industry. 1941 1942 • Asimov wrote "Runaround", which contained the "Three Laws of Robotics": • A robot may not injure a human, or, through inaction, allow a human being to come to harm. • A robot must obey the orders by human beings except where such orders would conflict with the First Law. • A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. http://prime.jsc.nasa.gov/ROV/history.html

  3. A Short History of Robots(Robot Timeline) "Cybernetics", an influence on artificial intelligence research was published by Norbert Wiener 1948 W. Grey Walter creates his first robots; Elmer and Elsie known as the turtle robots. The robots were capable of finding their charging station when their battery power ran low. 1948 MIT's Servomechanisms Lab demonstrates computer-assisted manufacturing, the machine produced an ashtray (pictured here) for each attendee. 1959 The first industrial robot was online in a General Motors automobile factory in New Jersey. It was called UNIMATE. 1961 The first artificial robotic arm to be controlled by a computer was designed. The Rancho Arm was designed as a tool for the handicapped and it's six joints gave it the flexibility of a human arm. 1963 http://prime.jsc.nasa.gov/ROV/history.html

  4. A Short History of Robots(Robot Timeline) 1968 The octopus-like Tentacle Arm was developed by Marvin Minsky. Victor Scheinman creates the Stanford Arm, which was the first successful electrically-powered, computer-controlled robot arm. 1969 WAP-1 is the first biped robot designed by Ichiro Kato. Computers were used to stimulate artificial muscles connected to the frame. 1969 Shakey was introduced as the first mobile robot controlled by artificial intellence. It was produced by SRI International. 1970 A robotic arm (the Silver Arm) that performed small-parts assembly using feedback from touch and pressure sensors was designed. 1974 http://prime.jsc.nasa.gov/ROV/history.html

  5. A Short History of Robots(Robot Timeline) 1975 Programmable Universal Manipulation Arm (PUMA) was capable of moving an object and placing it with any orientation in a desired location within its reach. The basic multijointed concept of the PUMA is the template for most contemporary robots. 1975 The Standford Cart crossed a chair-filled room without human assistance. The cart had a tv camera mounted on a rail which took pictures from multiple angles and relayed them to a computer. The computer analyzed the distance between the cart and the obstacles. 1980 Quasi-dynamic walking was first realized by WL-9DR. It used a micro-computer as the controller. It could take one step every 10 seconds. It was developed by Ichiro Kato at the Department of Mechanical Engineering School of Science and Engineering, Waseda University, Tokyo. 1998 LEGO releases their MINDSTORMS product line, which is a system for inventing robots. 1989 The Mobile Robots Group at MIT create Genghis, a walking robot. http://prime.jsc.nasa.gov/ROV/history.html

  6. Robotic Architectures http://www.cs.brown.edu/people/tld/courses/cs148/02/architectures.html

  7. Hierarchical Robot Architectures Shakey a robot developed at the Stanford Research Institute in the 1970s was largely controlled by a remote computer connected to the robot by a radio link; Shakey exhibited a look-and-lurch behavior as it contemplated moving blocks around to achieve a goal. The characteristic aspects of this paradigm are illustrated by the following figure from [Brooks, R.A., "A robust layered control system for a mobile robot", IEEE Journal of Robotics and Automation , Volume 2(1), 1986.] http://www.cs.brown.edu/people/tld/courses/cs148/02/architectures.html

  8. Reactive (Behavior Based) Ph. Cells Rest Bumpers Escape S Cruise Motors S In the reactive architecture, components behaviors are divided into layers with an arbitration scheme whereby behaviors at one level can manipulate what behaviors at a lower level can see or do. Brooks called the most primitive components of his architecture modules . Each module has inputs, outputs and a reset. A module at a higher level can suppress the input of a module at a lower level thereby preventing the module from seeing a value at its input. http://www.cs.brown.edu/people/tld/courses/cs148/02/architectures.html

  9. MSDN Home > Microsoft Robotics Studio

  10. Autonomous Robots

  11. Intro to Robotics Review some basic circuit designs • Batteries • Voltage Regulators • Noise Sources & Filtering DC Motors & their controllers • Brushed • Brushless • Servo • Stepper • Note: ECE 450 Kits • Each student must purchase • Will use kits in 16 September lab

  12. Microcontrollers Introduction to Microcontrollers • ATMEL’s ATMEGA 168 chip • Scalable to more capable microcontrollers • Program in either C or Assembly • Wealth of code available • Arduino (open-source electronics prototyping platform) • Focus on a controlling an H-Bridge chip • Pulse Width Modulation (PWM) • External Interrupts • Code Templates provided

  13. Mobile Robot Integration Robotic Programming • Behavior Based Programming

  14. HandyBoardExample of a Development Board

  15. Using Sensors to Build Behaviors Sensors • Touch Sensors • CdS light sensors Demonstrating Behavior Based Robotics

  16. Putting Skills to the Test

  17. Team Projects Team Projects • Must expand on past projects • Presentations, Demonstrations, and Peer evaluations

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