Robotics without Reason Robotik Seminar WS 99/00 Rojas Behnke

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

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?

What is a Robot? Cartesian robotCleaning robot

Service robots Building walls Gas station

Robots in the World Installations Stock

Robots in Science Fiction The word robot was coined by Karel Capek in R.U.R „Rossum‘s Universal Robots“ Robby from The Forbidden Planet

Lost in Space

Metropolis - The robot

Reactive Robotics A walking machine

Walking robot - Genghis Brook‘s Hexapod with whiskers

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

Augmented Finite State Machine Endlicher Automat R R R Sensor I S

Walking with six legs Walk Up leg trigger leg down beta pos S

Equilibrium of the legs alpha advance alpha balance alpha pos S Alpha balance tries to make the sum of the alpha angles zero

Walking Walk Up leg trigger leg down beta pos S alpha advance alpha balance alpha pos S

Walking in rough terrain Walk Up leg trigger leg down beta pos S alpha advance alpha balance alpha pos S Alpha collision

New Frontiers Humanoids

The Honda Humanoid Max. work weight 5kg per hand Running time about 15min. Weight 210kg Degree of Freedom (DOF) Leg's DOF:6x2=12 Arm's DOF:7x2=14 Hand's DOF:2x2=4 Actuators DC servo motors Sensors Gyrometers G-sensors Six axis force sensors on wrists and feet Vision cameras Transmitter Wireless ethernet modem Battery 136V7Ah(Ni-Zn)

Hardware

Cog -An intelligent Humanoid

Topics for the Seminar