Introduction to Robotics Robot Definition and Classification TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Definition of Robot? Robot classes? TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Definition of Robot Robot Institute of America: Any machine made by one our members.  Robot Institute of America, 1979: “A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools or specialized devices through variable programmed motions for the performance of a variety of tasks (Jablonski and Posey, 1985)”. This definition underscored the reprogrammability of robots, but it also just deals with manipulators and excludes mobile robots. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Definition of Robot A robot is a software-controllable mechanical device that uses sensors to guide one or more end-effectors through programmed motions in a workspace in order to manipulate physical objects. Today’s robots are not androids built to impersonate humans. Manipulators are anthropomorphic in the sense that they are patterned after the human arm. Industrial robots: robotic arms or manipulators TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Definition of Robot Close relationship with the concept of “automation”, the discipline that implements principles of control in specialized hardware. Three levels of implementation: - Rigid automation – factory context oriented to the mass manufacturing of products of the same type. Uses fixed operational sequences that cannot be altered. - Programmable automation – factory context oriented to low-medium batches of different types of products. A programmable system allows for changing of manufacturing sequences. - Flexible automation – evolution of programmable automation by allowing the quick reconfiguration and reprogramming of the sequence of operation. Flexible automation is often implemented as “Flexible robotic workcells” (Decelle 1988, Pugh 1983). Reprogramming/retooling the robots changes the functionality of the workcell. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Definition of Robot Another definition describes robotics as the intelligent connection between perception and action (Brady 1985). This is an overly inclusive definition. Yet another definition, which focuses on mobile robots (Arkin 1998) is: “A robot is a machine able to extract information from its environment, and use this knowledge to move safely, in a meaningful and purposive manner”. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Definition of Robot G. Bekey definition: an entity that can sense, think and act. Extensions: communicate, imitate, collaborate Classification: manipulators, mobile robots, mobile manipulators. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Classification of Robot I JIRA According to the Japanese Industrial Robot Association (JIRA), robots can be classified as follows: Class 1: manual handling device – a device with several DOF’s actuated by the operator. Class 2: fixed sequence robot – similar to fixed automation. Class 3: variable sequence robot – similar to programmable automation. Class 4: playback robot – the human performs tasks manually to teach the robot what trajectories to follow. Class 5: numerical control robot – the operator provides the robot with the sequence of tasks to follow rather than teach it. Class 6: intelligent robot – a robot with the means to understand its environment, and the ability to successfully complete a task despite changes in the surrounding conditions where it is performed. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Classification of Robot II AFR AFR: Association Française de Robotique Type A: Handling Devices with manual control Type B: Automatic Handling Devices with predetermined cycles Type C: Programmable, servo controlled robots Type D: Type C with interactive with the environment TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

The Categories Are….. Electrical Computer Engineering Science Sensors Control Mechanical Mechanics Computer Science Perception Motion Planning Mechanisms TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Combining these fields we can create a system that can SENSE PLAN (THINK) ACT TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Manipulators Industrial manipulators were born after WWII out of earlier technologies: Teleoperators. Teleoperators, or remotely controlled mechanical manipulator, were developed at first by Argonne and Oak Ridge National Labs to handle radioactive materials. These devices are also called “master-slave”, and consisted of a “master” arm being guided through mechanical links to mimic the motion of a “slave” arm that is operated by the user. Eventually, the mechanical links were replaced by electrical or hydraulic links. Numerically controlled milling machines (CNC). CNC machines were needed because of machining needs for very complex and accurate shapes, in particular aircraft parts. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Mobile Robots Mobile robots were born out of “unmanned vehicles”, which also appear in WWII (for example an unmanned plane dropped the atomic bomb at Nagasaki). Unmanned Aerial Vehicles (UAV), Underwater Vehicles (UUV) and Ground Vehicles (UGV). Because tethered mobile vehicles could not move very far, and radio communications were limited, an approach to mobile robots is to endow them with the necessary control and decision capability - “autonomy” Autonomous Underwater/Ground/Aerial Vehicles (AUV/AGV/AAV). Unlike manipulators, we do not think of a remotely controlled toy as a mobile robot, suggesting that one of the fundamental aspects of mobile robotics is the capacity for autonomous operation. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Anthropomorphic Robots TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Animal-like Robots ROBOTICS TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Snake-like robot ROBOTICS TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

KUKA They can load, unload, deburr, flame-machine, laser, weld, bond, assemble, inspect, and sort. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

IBM 7535 IBM 7535 Manufacturing System provided it advanced programming functions, including data communications, programmable speed. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Utah-MIT arm ROBOTICS TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Nomad mobile robot The XR4000 is an advanced mobile robot system that incorporates state of the art drive, control, networking, power management, sensing, communication and software development technologies. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Rensselaer Polytechnic Institute CAT Robots TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Lego Mindstorms ROBOTICS Go to: http://wwwcs.uni-paderborn.de/schulen/reis/faecher/informatik/facharbeiten/1999-2001/legoRobots/Einf%C3%BChrung.htm TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Asimo Honda announced the development of new technologies for the next-generation ASIMO humanoid robot, targeting a new level of mobility. Go to: http://world.honda.com/ThePowerofDreams/run/ TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Entertainment robots from SARCOS TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Kismet – MIT AI Lab Kismet consists of a head with large eyes with eyelids, bushy eyebrows, rubber lips, and floppy ears. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Cog – MIT AI Lab Cog is a humanoid robot. It has a torso, arms and a head but no legs. Cog's torso does not have a spine but it can bend at the waist from side-to-side and from front-to-back and can twist its torso the same way a person can. Cog's arms also TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Hierarchical family of robots (K- Team - Switzerland) TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Cog – MIT AI Lab ROBOTICS TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Recent Major Development: Microsoft Introduces Robotics Studio What is Microsoft Robotics Studio? A window-based environment that is used to create robotics application What does Microsoft Robotics Studio do? Consider Robotics Application where we have several sensory inputs and needed to be processed to command Actuators output Microsoft Robotics Studio provide a programmatic way to create an orchestrator that manage robotics applications (“Service”) Inputs Actuators Multiple Sensory Inputs Orchestrator Multiple Actuator Outputs Orchestration: “The task of consuming sensory input from a variety of sources and as a result manipulating a set of actuators to respond to the sensory input.” TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

USC Mobile Robots ROBOTICS TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Flying Insect (UCB) ROBOTICS TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Solar AUV II SAUV-II from Autonomous Underwater Research Institute (AUSI) – New Hampshire TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Trends in Robotics Classical Robotics (mid-70’s) • exact models • no sensing necessary Reactive Paradigm (mid-80’s) • no models • relies heavily on good sensing Hybrids (since 90’s) • model-based at higher levels • reactive at lower levels Probabilistic Robotics (since mid-90’s) • seamless integration of models and sensing • inaccurate models, inaccurate sensors TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

What do we mean by “Intelligence”? Open question: where intelligence begins and ends Intelligence (our working definition): the ability to improve an animal or human’s likelihood of survival within the real world, and, where appropriate, to compete or cooperate successfully with other agents to do so. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

History of today’s Intelligent Robots TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Summary of Robot Behavior Robotic behaviors generate a motor response from a given perceptual stimulus Purely reactive systems avoid the use of explicit representational knowledge Three design paradigms: – Ethologically guided/constrained – Situated activity – Experimentally driven Expression of behaviors can be accomplished in several ways: – SR diagrams – Functional notation – FSA diagrams Behaviors can be represented as triples (S, R, β) from cs594 at The University of Tennessee at Knoxville TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Robot Behavior “Behavioral robotics”: organisms as machines interacting with their environment according to behavioral models TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Summary of Robot Behavior (cont.) Presence of stimulus is necessary, but not sufficient, to evoke a motor response. Only when stimulus exceeds a threshold does it produce a response. A strength multiplier, or gain g, can be used to turn off behaviors or alter the response’s relative strength. Responses are encoded in two forms: –Discrete encoding: Rule-based methods often used –Continuous functional encoding: inverse square law often used TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Advantages of Robots Robotics and automation can, in many situation, increase productivity, safety, efficiency, quality, and consistency of products Robots can work in hazardous environments Robots need no environmental comfort Robots work continuously without any humanity needs and illnesses Robots have repeatable precision at all times Robots can be much more accurate than humans, they may have mili or micro inch accuracy. Robots and their sensors can have capabilities beyond that of humans Robots can process multiple stimuli or tasks simultaneously, humans can only one. Robots replace human workers who can create economic problems TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Disadvantages of Robots Robots lack capability to respond in emergencies, this can cause: – Inappropriate and wrong responses – A lack of decision-making power – A loss of power – Damage to the robot and other devices – Human injuries Robots may have limited capabilities in – Degrees of Freedom – Dexterity – Sensors – Vision systems – Real-time Response Robots are costly, due to – Initial cost of equipment – Installation Costs – Need for peripherals – Need for training – Need for Programming TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Future Directions ROBOTICS TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

New Directions Entertainment / social robots Humanoid robots Swarm / distributed robots New robot locomotion mechanisms Application-specific robotics (e.g., service industry, military, etc.) Medical robots Telemedicine TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Discussion of Ethics and Philosophy in Robotics Can robots become conscious? Is there a problem with using robots in military applications? How can we ensure that robots do not harm people? Isaac Asimov’s Three Laws of Robotics TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Isaac Asimov (1920 -1992) Born in Petrovichi, Russia Grew up in Brooklyn, New York Became U.S. citizen at age 8 Earned B.S., M.S., and Ph.D. from Columbia University Worked for many years as instructor in biochemistry at Boston University School of Medicine Prolific writer of science fiction – 1st 19 years: 100 books – Next 10 years: 100 more books – Next 5 years: 100 more books – Lifetime: Over 500 books TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Robots: Common Theme in Asimov’s Writings Asimov began writing about robots at age 20 The term 'robotics‘ was coined and first used by the Russian-born American scientist and writer Isaac Asimov (born Jan. 2, 1920, died Apr. 6, 1992). Asimov wrote prodigiously on a wide variety of subjects. He was best known for his many works of science fiction. The most famous include Robot (1950), The Foundation Trilogy (1951-52), Foundation's Edge (1982), and The Gods Themselves (1972), which won both the Hugo and Nebula awards. He also wrote the three “Laws of Robotics for which he is also famous. Asimov: “My robots were machines designed by engineers, not pseudo-men created by blasphemers” Asimov demonstrated enormous imagination and persistence in development of his robot stories – well-engineered, non-threatening robot TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Asimov’s Development of the Laws of Robotics Asimov: developed 3 laws of robotics to cope with potential for robots to harm people All robots in Asimov’s books were subject to these laws Laws built-in to robots’ “platinum-iridium positronic brains” Laws first appeared publicly in Asimov’s 4th robot short story, “Runaround” TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Asimov’s Laws of Robotics First law (Human safety): – A robot may not injure a human being, or, through inaction, allow a human being to come to harm. Second law (Robots are slaves): – A robot must obey orders given it by human beings, except where such orders would conflict with the First Law. Third law (Robot survival): – A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. (Zeroth law: A robot may not injure humanity, or, through inaction, allow humanity to come to harm.) These laws are simple and straightforward, and they embrace the essential guiding principles of a good many of the world’s ethical systems. – But: They are extremely difficult to implement!!! TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Industrial Robots and Service Robots Defined Please read: http://www.robotics.org/content-detail.cfm/Industrial-Robotics-Featured-Articles/Service-Robots-and-their-Rapid-Rise-in-Multiple-Markets/content_id/2608 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

KUKA, spot welding: http://www.youtube.com/watch?v=1-J_EzKm_70 Watch videos: KUKA, spot welding: http://www.youtube.com/watch?v=1-J_EzKm_70 KUKA dance: http://www.youtube.com/watch?v=OW4cYdsUpAw&feature=related Industrial robotics: http://www.youtube.com/watch?v=KBLEPlznHWY&feature=related Arc welding robot: http://www.youtube.com/watch?v=5HphVrleXlQ&feature=related TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

CyberDog: http://www.youtube.com/watch?v=B0qYob_vSgo&feature=related ASIMO: http://www.youtube.com/watch?v=5HphVrleXlQ&feature=related http://www.youtube.com/watch?v=M4rgaLW163k&feature=related CyberDog: http://www.youtube.com/watch?v=B0qYob_vSgo&feature=related Robot-Araigne: http://www.youtube.com/watch?feature=endscreen&v=Mfjn79oiM0Q&NR=1 Hexapod Robot: http://www.youtube.com/watch?v=-uKIDyFMTyQ&feature=related TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Hexapod Project: http://www.youtube.com/watch?v=65L_FO8cBgA&feature=related MTRAN Modular Robot: http://www.youtube.com/watch?v=4oSavAHf0dg&feature=related Also watch: http://www.youtube.com/watch?v=nkqesLSXe4Q&feature=related http://www.youtube.com/watch?v=ilbT2QcPGv0&feature=relmfu TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

References: - https://docs. google References: - https://docs.google.com/presentation/d/1C78tFM1BdyaHXGN-880ukOu__4ex408vWa2ebW9u8e0/present?pli=1&ueb=true#slide=id.p46 - http://www.cs.auckland.ac.nz/courses/compsci367s2c/lectures/Ian/cs367-08.pdf - www.ieor.berkeley.edu/.../Robotics-and-Automation-Overview-S10-... - www.ro.feri.uni-mb.si/lab_kin_sim/robotika-izredni/lect1.ppt - gk12.poly.edu/...PowerPointFiles/IntroductiontoRobotics_A.ppt TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS