Title: Fundamentals of Robotics Linking perception to action 1' Introduction to Robotics
1Fundamentals of RoboticsLinking perception to
action1. Introduction to Robotics
2Introduction to Robotics
- Manfacturing
- Human/Artificial intelligence
- Motion
3Manufacturing
- Manufacture
- Manus hand factus to make
- Manufacture to make by hand, making things by
hand - A manufacture process
- Labor, equipment, materials (parts, or
components)
4Outline of a factory in manufacturing
Enterprise Information and Management System
Manufacturing Execution System
Manufacturing Design System
Production andAutomationSystem
Manufacturing Support System
5Factory Automation
6Automation and robots
- The aim of automation
- To eliminate the direct involvement of labor in
the process interaction. - The role of labor
- From direct involvement to indirect programming
and/or monitoring of automated equipment. - The role of machine
- To domain all the automatically controls.
7Mechanism v.s. Machine
- Mechanism
- A set of (mechanical) elements arranged in
certain configurations - for the purpose of transmitting motions in a
predetermined fashion. - e.g. bicycle
- Machine
- A super-set of mechanism(s), and
- contains elements which supply energy to drive
this mechanism(s). - e.g. motorcycle or car
8Robot
- Robot
- Robota (Czech word)
- meaning forced workers
- In 1921, a play named Rossums Universal Robots
by Karel Kapek. - A scientist (Rossum) created human-like machines
that revolted, killed their human masters, and
took control of the world.
9Definition of Industrial Robot
- by the Robot Institute of America
- A robot is a programmable, multi-functional
manipulator - designed to move material, parts or specialized
devices - through variable programmed motions
- for the performance of a variety of tasks.
- Engineering view
- A robot is the embodiment of manipulative,
perceptive, communicative, and cognitive
abilities in an artificial body. - which may or may not have a human shape.
- It can advantageously be deployed as a tool, to
make things in various environments.
10Typical examples of industrial robots
- Typical applications
- Welding (??)
- The process of joining two work-pieces together
by applying molten weld metal. - Cutting (??)
- The process of applying thermal or mechanical
energy to cut a work piece into a specific shape. - Assembly (??)
- The process of either adding components to form a
single entity, or affixing components to a base
unit (e.g. to place components on a printed
circuit board). - Material Handling (????)
- The process of either packaging parts into a
compartment (box) or loading/unloading parts
to/from another station.
11Definition of Humanoid Robot
- A humanoid robot
- is the embodiment of manipulative, perceptive,
communicative, and cognitive abilities - in an artificial body similar to that of a human,
- which possesses skills in executing motions with
a certain degree of autonomy, and - can be advantageously deployed as agents to
perform tasks in various environments.
12PINO http//www.symbio.jst.go.jp/PINO/index.html
ZMP INC.
- OpenPINO (PINO-class Humanoid Robot Platform) is
- an attempt to create Linux-like open source
development community by disclosing technical
information based on PINO. - Everyone can use PINO as a base of the research
and development, - Software is disclosed under GPL
- (GNU General Public License)
- Electric circuits and mechanical design diagrams
are released under GNU Free Documentation
License. - (Please note that esthetic design is proprietary
property, thus not a subject of open source
release.)
13OpenPINO platform (PHR-0001)
- We recognize that OpenPINO platform (PHR-0001)
disclosed is a simple design, and has many room
for improvement. - It was only intended to be minimum platform that
serve as a starting point of the collective
efforts. - Please remember when Linux disclosed his initial
Linux kernel. - It was a collective efforts of many people who
are interested that contributed formation of
current Linux system. - OpenPINO is the first attempt in robotics that
tries to evolve through open source movement. - We wish that this initiative contributes to
promotion of scientific research and triggers
faster growth of the industry.
14TMSUKs humanoid robot http//www.tmsuk.co.jp/engl
ish/robots.html -- TMSUK INC.
- A/ TMSUK-1, 1993a Receptionist Robot
- B/ TMSUK-2, 1993a Robot with Voice Recognition
and Converse Technologies - C/ TMSUK-3, 1998the worlds first experiment
robot controlled remotely by use of PHS
network. - D/ TMSUK-4, 1999a Remote-controlled Robot
A B C D
15TMSUK, 2005
- R/ MUJIRO RIGURIO Outdoor security and
information robot - S/ SHINPO Humanoid Two-legged Walking Robot
- T/ PRE-HOSPITAL CARE ROBOT A new type of
life-saving robot
16FUJITSUs humanoid robot
- Humanoid Robot HOAP-1
- This robot can be used for various types of
research and development, such as - the development of motion control algorithms for
a two-legged walking motion, - other motion algorithms used with the basic
simulation software, and - research on human-to-robot communication
interfaces. - HOAP-1 is light and compact, standing 48cm tall
and weighing 6kg. - Since internal interface information for the
robot's hardware and software are disclosed,
users can freely develop programs using its open
architecture.
17HOAP Humanoid for Open Architecture Platform
- Humanoid Robot HOAP-2
- Compact, light weight, and easy-to-treat,
- HOAP(1)-2 is a genuine humanoid robot with two
arms and two legs. - HOAP-2's gesture expression has been enhanced
with moving head, waist, and hands. - Using motor current control, except for his head
and hands, the movements are much smoother. - HOAP-2 is easily connected to your personal
computer. - You can use him as a human robotics research tool
for studying areas, such as movement control and
communications with humans.
18Impact of Industrial Robots
- Productivity(???)
- Robots can increase productivity because of their
continuous physical effort without rest. - Flexibility(???)
- The robot, reprogrammable equipment, is
undoubtedly one of the best tyoes if equipment
for flexible automation. - Quality of Products(????)
- Robots can not only execute accurate motions
repeatedly, but are immune to the emotional
states which affect humans performance.
19Impact of Industrial Robots (Continued)
- Quality of Human Life(????)
- The use if robots can free humans from doing
dirty, dangerous, and difficult jobs. - Scientific Discipline(????)
- Robotics, the study of robots, is an important
subject and can be as a scientific discipline for
education and research.
20Impact of Humanoid Robots
- Industry
- Maintenance
- Unmanned factory
- Construction of buildings or houses
- Diagnostics
- Rehabilitation of patients
- Security
- Assistance in hospitals for certain tasks, e.g.
precision surgery
21The next great consumer product Humanoid robot
- Robot-assisted Entertainment
- Preprogrammed interactions, animal-like robot
- Robot-assisted Healthcare at Home
- Pre-hospital diagnostics or treatments (by
appropriate pre-coded programs) - Robot-assisted Education at Home
- Private tuition with preprogrammed and selectable
knowledge and skills - Robot-assisted education, virtual university,
life-long learning at home (for all children and
adults)
22Human intelligence
- Constituent elements
- Perception
- Learning
- Thinking
- Action
- Intelligence
- is the ability to linkperception to actionsfor
the purpose of achieving an intendedoutcome.
23Related topics in Robotics
- Mechanism and Kinematics, Actuation Elements and
Dynamics, Sensing Elements, Control,
Information and Decision-Making, Visual
Perception.
24Limb-Eye Coordination Behavior
- Vision-guided manipulation
- hand-eye coordination
- Vision-guided positioning
- head-eye coordination
- Vision-guided locomotion
- leg-eye coordination