What is Robotics?

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What is Robotics?

• A robot is a machine that can be programmed.

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The Four Ds of Robotics

1. Dangerous
2. Dirty
3. Dull
4. Difficult

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The Four Ds of Robotics

1. Dangerous
2. Dirty
3. Dull
4. Difficult

4
The Four Ds of Robotics

1. Dangerous
2. Dirty
3. Dull
4. Difficult

5
The Four Ds of Robotics

1. Dangerous
2. Dirty
3. Dull
4. Difficult

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The First Robots

• Mechanical toys such as the Japanese Karakuri
  ningyo toys of the 1700s

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The First Robots

• Leonardo da Vincis 15th Century design for a
  knight

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The First Robots

• Automata of the 1800s

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What is artificial intelligence and how is it
different from robotics as we know it?

• In current robotics, all robot behavior must be
  programmed into the robot.
• Artificial intelligence is the ability of the
  robot to select which behavior or program to run.

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Difference in Robots and Humans

• Machines can recall data and do math much faster
  than humans. They are more rugged than we are.
• Humans are much better at recognizing patterns.
  They are more creative. Humans can adapt to
  change much faster than robots.

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Major Fields of Robotics

• Operator Interface A robot must be able to
  communicate with its human controller
• Mobility or locomotion How the robot gets from
  place to place
• Manipulators and effectors
• The parts of the robot that
• interact with objects by
• touching things, picking
• them up, placing them in
• containers, etc.

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Major Fields of Robotics

• Programming How you talk to a machine.
• Sensing and perception
• A robot needs information
• from sensors to know
• about its surroundings

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Difference between Autonomous and TeleOp

• An autonomous robot is controlled by its internal
  computer.
• A teleop or teleoperated robot is controlled by a
  human using a control device remotely.

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Ways to teleop a robot

• Virtual Reality (VR) immerse the operator in a
  real-time control environment.

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Ways to teleop a robot

• Biofeedback or neurofeedback using an EEG. Very
  useful for people who have lost a limb or are
  paralyzed.

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Ways to teleop a robot

• Exoskeleton robot

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Mobility or Locomotion

• Electric motors DC (direct current) are used to
  created rotational movement
• Servos Work by electricity and also created
  rotational movement
• Linear Actuators pneumatics or hydraulics and
  created a lot of force very quickly
• Rotary actuators much like linear only force is
  rotational

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How can robots move?

• Muscle wire actually contracts when electricity
  is run through it. Shape Memory Alloy or SMA

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How can robots move?

• Electroactive polymers
• can contract up to 400
• percent when electricity
• is applied. Used for
• humanoid robots

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How can robots move?

• Two-wheeled balancing robot uses sensors to
  stay balanced
• One-wheeled balancing robot uses a single wheel
  or ball and still maintains balance
• Six-wheeled robots multiple wheels
• Walking robots -

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How can robots move?

• Walking robots Like Hondas ASIMO these robots
  are called bipeds.

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How can robots move?

• Flying robots Unmanned aerial vehicles (UAVs)
  fly in front of patrols so soldiers can spot
  ambushes.

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How can robots move?

• Underwater
• robots used for recovery, mapping,
  exploration and clean-up

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How can robots move?

• Climbing robots
• Use gecko-like
• mechanisms
• to climb

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Manipulators and End Effectors

• Some people refer to the hand of a robot as an
  end-effector or effector and the arm as a
  manipulator.
• Mechanical Gripper

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Manipulators and End Effectors

• Vacuum gripper

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Manipulators and End Effectors

• Magnetic Grippers
• Ingressive Grippers

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Sensors

• Robots must know Where am I? Where do I need to
  go? What is in my way?
• Robots use cameras for eyes
• Robots use microphones for ears
• Robots use touch sensors for touch
• GPS Sensors for coordinates
• Radar transmitters for objects in the way
• Infrared sensors detect heat

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Pseudo Code

• Pseudo code is pictures or tiles of code that
  you can experiment with rather than actually
  programming

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Center of Gravity

• Center of Gravity, the point at which all of the
  weight of an object appears to be concentrated.
  If an object rotates when thrown, the center of
  gravity is also the center of rotation. It is
  important for automobiles and trucks to have
  their centers of gravity located close to the
  road, because a low center of gravity gives them
  stability.

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Support Polygon

• The support polygon is the imaginary polygon
  formed by connecting the points where the robot
  touches the supporting surface.
• A triangle is the most stable stationary polygon.
• The most stable polygon for movement is a
  rectangle.

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Two-point rule

• Two-point rule says that you need two points of
  connection on structural pieces.

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Vulnerable Robot Elements

• Anything that is sticking out and subject to
  being rammed or run-over