Fundamentals of Robotics Linking perception to action 1' Introduction to Robotics

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Fundamentals of RoboticsLinking perception to
action1. Introduction to Robotics

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Introduction to Robotics

• Manfacturing
• Human/Artificial intelligence
• Motion

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Manufacturing

• Manufacture
• Manus hand factus to make
• Manufacture to make by hand, making things by
  hand
• A manufacture process
• Labor, equipment, materials (parts, or
  components)

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Outline of a factory in manufacturing
Enterprise Information and Management System
Manufacturing Execution System
Manufacturing Design System
Production andAutomationSystem
Manufacturing Support System
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Factory Automation

• Process optimization

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Automation 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.

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Mechanism 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

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Robot

• 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.

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Definition 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.

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Typical 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.

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Definition 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.

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PINO 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.)

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OpenPINO 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.

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TMSUKs 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
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TMSUK, 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

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FUJITSUs 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.

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HOAP 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.

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Impact 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.

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Impact 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.

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Impact 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

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The 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)

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Human intelligence

• Constituent elements
• Perception
• Learning
• Thinking
• Action
• Intelligence
• is the ability to linkperception to actionsfor
  the purpose of achieving an intendedoutcome.

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Related topics in Robotics

• Mechanism and Kinematics, Actuation Elements and
  Dynamics, Sensing Elements, Control,
  Information and Decision-Making, Visual
  Perception.

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Limb-Eye Coordination Behavior

• Vision-guided manipulation
• hand-eye coordination
• Vision-guided positioning
• head-eye coordination
• Vision-guided locomotion
• leg-eye coordination