Robotics without Reason

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Robotics without Reason

• Robotik Seminar
• WS 99/00
• Rojas
• Behnke

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Overview

• What is a robot?
• Robots in Sci Fiction
• Reactive robots and an example Genghis
• Humanoid robots
• Topics for the seminar

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What is a robot?

• Webster 1a A machine that looks like a human
  being and performs various complex acts
• 2 A device that automatically performs
  complicated often repetitive tasks
• 3 A mechanism guided by automatic controls
• Software robots?

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What is a Robot?
Cartesian robot
Cleaning robot
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Service robots
Building walls
Gas station
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Robots in the World
Installations
Stock
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Robots in Science Fiction
The word robot was coined by Karel Capek in
R.U.R Rossums Universal Robots Robby from
The Forbidden Planet
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Lost in Space
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Metropolis - The robot
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Reactive Robotics

• A walking machine

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Walking robot - Genghis
Brooks Hexapod with whiskers
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Subsumption Architecture

• Incremental method for building robots
• Network of finite state machines links sensors to
  actions
• Internal timers
• Control system built in layers
• Message passing augmented finite state machines

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Augmented Finite State Machine
R
Sensor
Endlicher Automat
R
R
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Walking with six legs
Walk
Up leg trigger
leg down
beta pos
S
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Equilibrium of the legs
alpha advance
alpha balance
alpha pos
S
Alpha balance tries to make the sum of the alpha
angles zero
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Walking
Up leg trigger
Walk
leg down
beta pos
S
alpha advance
alpha balance
alpha pos
S
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Walking in rough terrain
Up leg trigger
Alpha collision
Walk
leg down
beta pos
S
alpha advance
alpha balance
alpha pos
S
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New Frontiers

• Humanoids

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The Honda Humanoid
Max. work weight 5kg per hand Running time
about 15min. Weight 210kg Degree of
Freedom (DOF) Leg's DOF 6x212Arm's
DOF 7x214Hand's DOF 2x24 Actuators DC
servo motors Sensors Gyrometers G-sensors S
ix axis force sensors on wrists and feet Vision
cameras Transmitter Wireless ethernet modem
Battery 136V7Ah(Ni-Zn)
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Hardware
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Cog -An intelligent Humanoid
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Topics for the Seminar