1. City College of New York 1 John (Jizhong) Xiao Department of Electrical Engineering City College of New York jxiao@ccny.cuny.edu Historical Development of Robotics Capstone Design --- Robotics

2. City College of New York 2 Outline What is a Robot? Why use Robots? Robot History Robot Applications

3. City College of New York 3 What is a robot? Definition: (no precise definition yet) –Webster’s Dictionary An automatic device that performs functions ordinarily ascribed to human beings  washing machine = robot? –Robotics Institute of American A robot (industrial robot) is a reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices, through variable programmed motions for the performance of a variety of tasks.

4. City College of New York 4 What is a robot? Hollywood’s imagination R2-D2 Star Wars 3PO

5. City College of New York 5 What is a robot? By general agreement, a robot is: A programmable machine that imitates the actions or appearance of an intelligent creature–usually a human. To qualify as a robot, a machine must be able to: 1) Sensing and perception: get information from its surroundings 2) Carry out different tasks: Locomotion or manipulation, do something physical–such as move or manipulate objects 3) Re-programmable: can do different things 4) Function autonomously and/or interact with human beings

6. City College of New York 6 Types of Robots Robot Manipulators Mobile Manipulators

7. City College of New York 7 Types of Robots Humanoid Legged robots Underwater robots Wheeled mobile robotsAerial Robots Locomotion

8. City College of New York 8 Mobile Robot Examples Hilare II http://www.laas.fr/~matthieu/robots/ Sojourner Rover NASA and JPL, Mars exploration

9. City College of New York 9 Autonomous Robot Examples

10. City College of New York 10 Why Use Robots? Application in 4D environments –Dangerous –Dirty –Dull –Difficult 4A tasks –Automation –Augmentation –Assistance –Autonomous

11. City College of New York 11 Pre-History of Robots Automata: a machine or control mechanism designed to follow automatically a predetermined sequence of operations or respond to encoded instructions

12. City College of New York 12 Automata Europe

13. City College of New York 13 Automata Asia

14. City College of New York 14 Robot History 1961 –George C. Devol obtains the first U.S. robot patent, No. 2,998,237. –Joe Engelberger formed Unimation and was the first to market robots –First production version Unimate industrial robot is installed in a die-casting machine 1962 –Unimation, Inc. was formed, (Unimation stood for "Universal Automation")

15. City College of New York 15 Robot History The patent and industrial robot

16. City College of New York 16 Robot History What an industrial robot must have? – 1968 –Unimation takes its first multi-robot order from General Motors. 1966-1972 –"Shakey," the first intelligent mobile robot system was built at Stanford Research Institute, California.

17. City College of New York 17 Robot History Shakey (Stanford Research Institute) –the first mobile robot to be operated using AI techniques Simple tasks to solve: –To recognize an object using vision –Find its way to the object –Perform some action on the object (for example, to push it over) http://www.frc.ri.cmu.edu/~hpm/book98/fig.ch2/p027.html

18. City College of New York 18 Shakey

19. City College of New York 19 Robot History 1969 –Robot vision, for mobile robot guidance, is demonstrated at the Stanford Research Institute. –Unimate robots assemble Chevrolet Vega automobile bodies for General Motors. 1970 –General Motors becomes the first company to use machine vision in an industrial application The Consight system is installed at a foundry in St. Catherines, Ontario, Canada.

20. City College of New York 20 The Stanford Cart 1973-1979 –Stanford Cart –Equipped with stereo vision. –Take pictures from several different angles –The computer gauged the distance between the cart and obstacles in its path Hans Moravec http://www.frc.ri.cmu.edu/users/hpm /

21. City College of New York 21 The Stanford Cart

22. City College of New York 22 Robot History 1978 –The first PUMA (Programmable Universal Machine for Assembly) robot is developed by Unimation for General Motors. 1981 –IBM enters the robotics field with its 7535 and 7565 Manufacturing Systems. 1983 –Westinghouse Electric Corporation bought Unimation, Inc., which became part of its factory automation enterprise. Westinghouse later sold Unimation to Staubli of Switzerland.

23. City College of New York 23 Industrial Robot --- PUMA

24. City College of New York 24 Installed Industrial Robots Japan take the lead, why?  Shortage of labor, high labor cost

25. City College of New York 25 How are they used? Industrial robots –70% welding and painting –20% pick and place –10% others Research focus on –Manipulator control –End-effector design Compliance device Dexterity robot hand –Visual and force feedback –Flexible automation

26. City College of New York 26 Robot Arm Dexterity

27. City College of New York 27 Robotics: a much bigger industry Robot Manipulators –Assembly, automation Field robots –Military applications –Space exploration Service robots –Cleaning robots –Medical robots Entertainment robots

28. City College of New York 28 Field Robots

29. City College of New York 29 Field Robots

30. City College of New York 30 Service robots

31. City College of New York 31 Service Robot Example iRobot Inc Roomba video presenting ……

32. City College of New York 32 The early stage of AI

33. City College of New York 33 The start of AI

34. City College of New York 34 Autonomous and Intelligence

35. City College of New York 35 The Honda Humanoid (1997)

36. City College of New York 36 Humanoid

37. City College of New York 37 Robot Applications Manufacture Industry –Assembling –Automation Biotechnology –Micro/Nano manipulation –Sample Handling –Automated Analysis

38. City College of New York 38 Robot Applications Military Applications

39. City College of New York 39 Military Applications DARPA Programs: (Defense Advanced Research Projects Agency) Tactical Mobile Robotics

40. City College of New York 40 Robot Applications Fire Fighting, Search and Rescue

41. City College of New York 41 Robot Applications NASA/DARPA Robonaut project: a humanoid robot that can function as an astronaut equivalent for spacewalks. Human operators on earth can control the robot’s movements from distance. Website: http://vesuvius.jsc.nasa.gov/er_er/html/robona ut/robonaut.html Space Robotics: Mars Exploration Rovers: Spirit and Opportunity --- twin robot geologists, landed on Mars: Jan 3, and Jan 24, 2004, and still alive, on Aug. 31! Website: http://marsrovers.jpl.nasa.gov/overview /

42. City College of New York 42 Robot Applications Robots for Assistive Technology

43. City College of New York 43 Robot Applications Entertainment Industry

44. City College of New York 44 Robot Applications Entertainment Robots Sony-Qrio

45. City College of New York 45 Personal Robot? Just as the personal computer is used for automated information management even in households, robots can be used to execute domestic tasks. Manipulation of bits of information (PC) Manipulation of physical objects (PR) http://www.personalrobots.com

46. City College of New York 46 Previous Projects Video Presenting ……

47. City College of New York 47 Architecture of Robotic Systems Mechanical Structure –Kinematics model –Dynamics model Actuators: Electrical, Hydraulic, Pneumatic, Artificial Muscle Computation and controllers Sensors Communications User interface Power conversion unit Environmental sensors Motion planner Controller Mechanical Structure Configuration sensor

48. City College of New York 48 Summary Robotics--interdisciplinary research –Mechanical design –Computer science and engineering –Electrical engineering –Cognitive psychology, perception and neuroscience Research open problems –Manipulation, Locomotion –Control, Navigation –Human-Robot Interaction –Learning & Adaptation (AI)

49. City College of New York 49 Thank you, enjoy the design!