ChunLung Lim

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Robot Control

• By
• Chun-Lung Lim
• Jay Hatcher
• Clay Harris

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Definition of a Robot

• Definition of a Robot According to The Robot
  Institute of America (1979) "A reprogrammable,
  multifunctional manipulator designed to move
  materials, parts, tools, or specialized devices
  through various programmed motions for the
  performance of a variety of tasks."
• According to the Webster dictionary "An
  automatic device that performs functions normally
  ascribed to humans or a machine in the form of a
  human (Webster, 1993)."

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A Brief History of Robotics

• Robotics' history is tied to so many other
  technological advances that today seem so
  trivial, we don't even think of them as robots.
• How did a remote-controlled boat lead to
  autonomous metal puppies?

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Nikola Tesla

• Croatian-American scientist Nikola Tesla.
• Invented many things, including the alternating
  current system.

• Remote-controlled, submersible boat was acting on
  radio signals.

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Slaves of steel

• The first person to use the word robot was a
  playwright, Czechoslovakian writer Karel Capek
  first used the word robot in his satirical play,
  R.U.R. (Rossum's Universal Robots).

Cover page of the first edition
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Wartime inventions

• World War II was a big catalyst in the
  development of two important robot components
  artificial sensing and autonomous control.
• The U.S. military created auto-control systems
  for mine detectors that would sit in front of a
  tank as it crossed enemy lines
• The Germans developed guided robotic bombs that
  were capable of correcting their trajectory.

German robot bomb found in France
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Calculators and computers

• John Atanassoff built the world's first digital
  computer.
• In 1946 the University of Pennsylvania completed
  the ENIAC (Electronic Numerical Integrator And
  Calculator), a massive machine made up of
  thousands of vacuum tubes. But these devices
  could only handle numbers.
• The UNIVAC I (Universal Automatic Computer)
  would be the first device to deal with letters.

ENIAC computer
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A robot in every pot

• The invention of the transistor in 1948 increased
  the rate of electronic growth and the
  possibilities seemed endless.
• The creation of silicon microchips reinforced
  that growth.
• The seven-foot robot could smoke and play the
  piano.

Elecktro the smoking robot
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Industrial-strength arms

• 1961 General Motors installed the applied
  telecherics system on their assembly line. The
  one-armed robot unloaded die casts, cooled
  components and delivered them to a trim press.
• In 1978 the PUMA (Programmable Universal Machine
  for Assembly) was introduced and quickly became
  the standard for commercial telecherics.

PUMA industrial robot
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Early personal robots
Hero 1
RB5X
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Arms in space
From breadboard to on-board small components
were assembled and tested innumerable times
before the final product was mated to the shuttle
in 1981 (NASA)
The Canadarm -- Canada's Hand in the Sky (NASA)
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Surgical tools

• In 1985 Dr. Yik San Kwoh invented the
  robot-software interface used in the first
  robot-aided surgery, a stereo tactic procedure.
• The surgery involves a small probe that travels
  into the skull.
• A CT scanner is used to give a 3D picture of the
  brain, so that the robot can plot the best path
  to the tumor.

Dr. Yik San Kwoh with surgical robot
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The Honda Humanoid
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Hazardous duties

• Dante II aids in the dangerous recovery of
  volcanic gases and samples.
• These robotic arms with wheels saved countless
  lives defusing bombs and investigating nuclear
  accident sites.

Telecheric robot inspects suspicious package
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Solar-powered insects

• Mark Tilden's BEAM robots look and act like big
  bugs.
• Tilden builds simple robots out of discrete
  components and shies away from the integrated
  circuits most other robots use for intelligence.
• Started in the early 1990s, the idea was to
  create inexpensive, solar-powered robots ideal
  for dangerous missions such as landmine
  detection.

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A range of rovers

• Sojourner, semi-autonomous robot platforms to be
  launched into Mars in 1996.
• The problem was, it could only travel short
  distances.
• In 2004, twin robot rovers caught the public's
  imagination again, sending back amazing images in
  journeys of kilometers, not meters.

Mars rover
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Entertaining pets

• In the late '90s there was a return to
  consumer-oriented robots.
• One of the real robotic wonders of the late '90s
  was AIBO the robotic dog, made by Sony Corp.
• By using sensor array, AIBO can autonomously
  navigate a room and play ball.

AIBO takes a spill
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Siggraph 2005 Los Angeles

• Quasi can make responses based on guest input and
  can recognize speech patterns, track faces,
  detect proximity, dispense candy and even perform
  a karaoke duet.
• Softwares includes Alias Maya, BAT and so on.

Quasi - Carnegie Mellon University
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Android
My beloved. Repliee Q2
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Hawk Digital System
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Robot Project Prototype Robot Exhibition 2005
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Network robotics, RT middleware (9 projects)

• Robot with advanced auditory capabilities for
  human interaction
• Companion robot that follows individuals by
  multimodal interaction
• Multitask robot system that utilizes intelligent
  information infrastructure
• Hyperrobot that serves people by integrating
  single-task domestic robots
• Errand robot
• Seven-degree-of-freedom double-arm unit and
  double-arm mobile robot
• Superdistribution and combination robot system
  utilizing wireless links
• Content-oriented robot that uses robot content
• Environmental robot

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Experiential robots (7 projects)

• Robot that decorates ceramic tableware and
  drinkware
• Portrait-drawing robot
• Partner robot with artificial tongue
• Future science encyclopedia and multifingered
  haptic interface robot
• Mutual telexistence robot that utilizes
  retroreflective projection
• Robot for encountering the microscopic world
• Cyberassist meister robot

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Outdoor skilled-work robots (7 projects)

• Boarding robot for roaming natural landscapes
• Ubiquitous robot
• Caddy robot
• Search and contaminant recovery robot for
  response to nuclear, biological, and chemical
  terrorism
• Manually controlled heavy-duty robot to assist
  rescue operations
• Robot that searches through rubble

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Special-environment robots(9 projects)

• Robot that evaluates duct interiors by
  impact-elastic waves
• Pacemaker robot for marathons
• Golden Shachihoko robot
• Autonomous snow-plowing robot to support life in
  snowy regions
• Super-high-speed batting robot that can hit
  fastballs of up to 160 kph
• Amphibious snake-type robot
• Acrobatic airship robot
• Data gathering double-kite-type robot, humanoid
  robot for a comfortable lifestyle
• High-performance flying robot

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Medical and welfare robots(10 projects)

• Emergency rescue robot
• Superdetail human body robot for medical skills
  training
• Three-dimensional visual perception and display
  apparatus for office, home, and medical robots,
  and microhand for medical and surgical use
• Remote microsurgery robot
• Six-degrees-of-freedom robot for rehabilitation
  of upper limbs including wrists
• Handicap-assistive barrier-free robot interface
  system with high learning ability
• Semiautonomous robot system for self-care by
  disabled people
• Wearable robot for musclular support Muscle suit
  for upper limbs
• Power augmentation robot
• Robot suit to assist human movement

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Partner robots (8 projects)

• Canine robot as a mobile platform that exhibits
  high physical capabilities outdoors in urgent
  situations
• Android that interacts with people and nature
• Cooperative framework for heterogeneous robots
• Physical communication robot to cheer up children
  
• Robot for scenario research that is capable of
  authoring
• Next-generation communication robot
• Communicating heterogeneous robots
• Dance partner robot

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Performance robots (6 projects)

• Six-legged walking robot that uses reinforcement
  learning (autonomous development of motion
  control)
• Self-configurable modular robot
• Artistic robot
• Limb mechanism robot
• Three-leg wheeled type robot
• Crawling and jumping soft robot

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Humanoid robots (7 projects)

• Humanoid probe robot
• Interaction middleware for humanoid robots
• Software that generates impact motions for the
  HRP-2 robot
• Animatronic humanoid robot
• Musculoskeletal humanoid robot with a
  large-degree-of-freedom flexible spine
• Humanoid robot for research on dynamic motion
• Bipedal humanoid robot as a simulator of human
  motion

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References

• http//www.robotics.utexas.edu/rrg/learn_more/hist
  ory/
• http//www.msnbc.com/modules/robot_history/
• http//www.thelightningguy.com/tesla.htm
• http//capek.misto.cz/obrazky/divadlo/theater.html
  
• http//www.mlc-engineering.com/rb5x01.htm
• http//www.honda.co.jp/robot/movie/
• http//www.cooltoolawards.com/hardware/Humanoid.ht
  m
• http//www.tomshardware.com/site/videos/index.html
  
• http//www.ed.ams.eng.osaka-u.ac.jp/development/Hu
  manoid/ReplieeQ2/ReplieeQ2_eng.htm
• http//www.motionanalysis.com/applications/movemen
  t/sports/hawksystem.html
• http//www.expo2005.or.jp/en/robot/robot_project_0
  2.html
• Paper Generating Natural Motion in an Android
  by Mapping Human Motion