Robotics- Naved

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Definition of a RobotDefinition of a Robot Definition of a Robot According to The Robot

Institute of America (1979) : "A reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks."

According to the Webster dictionary: "An automatic device that performs functions normally ascribed to humans or a machine in the form of a human (Webster, 1993)."

A Brief History of RoboticsA Brief History of RoboticsRobotics' history is tied

to so many other technological advances that today seem so trivial, we don't even think of them as robots.

How did a remote-controlled boat lead to autonomous metal puppies?

Nikola TeslaNikola TeslaCroatian-American

scientist Nikola Tesla.Invented many things,

including the alternating current system.

• Remote-controlled, submersible boat was acting on radio signals.

Slaves of steelSlaves of steel

The first person to use the word robot was a playwright, Czechoslovakian writer Karel Capek first used the word robot in his satirical play, R.U.R. (Rossum's Universal Robots).

Cover page of the first edition

Wartime inventions Wartime inventions World War II was a big

catalyst in the development of two important robot components: artificial sensing and autonomous control.

The U.S. military created auto-control systems for mine detectors that would sit in front of a tank as it crossed enemy lines

The Germans developed guided robotic bombs that were capable of correcting their trajectory.

German robot bomb found in France

A robot in every potA robot in every potThe invention of the

transistor in 1948 increased the rate of electronic growth and the possibilities seemed endless.

The creation of silicon microchips reinforced that growth.

The seven-foot robot could smoke and play the piano.

Elecktro:The smoking robot

Industrial-strength arms Industrial-strength arms 1961 General Motors installed

the applied telecherics system on their assembly line. The one-armed robot unloaded die casts, cooled components and delivered them to a trim press.

In 1978 the PUMA (Programmable Universal Machine for Assembly) was introduced and quickly became the standard for commercial telecherics.

PUMA industrial robot

Early personal robots

RB5X

Hero 1

Surgical toolsSurgical toolsIn 1985 Dr. Yik San Kwoh

invented the robot-software interface used in the first robot-aided surgery, a stereo tactic procedure.

The surgery involves a small probe that travels into the skull.

A CT scanner is used to give a 3D picture of the brain, so that the robot can plot the best path to the tumor.

Dr. Yik San Kwoh with surgical robot

Hazardous dutiesHazardous duties

Dante II aids in the dangerous recovery of volcanic gases and samples.

These robotic arms with wheels saved countless lives defusing bombs and investigating nuclear accident sites.

Telecheric robot inspects suspicious package

Solar-powered insects Solar-powered insects Mark Tilden's BEAM robots

look and act like big bugs. Tilden builds simple robots

out of discrete components and shies away from the integrated circuits most other robots use for intelligence.

Started in the early 1990s, the idea was to create inexpensive, solar-powered robots ideal for dangerous missions such as landmine detection.

A range of roversA range of roversSojourner, semi-autonomous

robot platforms to be launched into Mars in 1996.

The problem was, it could only travel short distances.

In 2004, twin robot rovers caught the public's imagination again, sending back amazing images in journeys of kilometers, not meters.

Mars rover

Entertaining petsEntertaining petsIn the late '90s there was a

return to consumer-oriented robots.

One of the real robotic wonders of the late '90s was AIBO the robotic dog, made by Sony Corp.

By using sensor array, AIBO can autonomously navigate a room and play ball. AIBO takes a spill

Quasi 2005 – Los AngelesQuasi can make responses

based on guest input and can recognize speech patterns, track faces, detect proximity, dispense candy and even perform a karaoke duet.

Softwares includes Alias Maya, BAT and so on.

Quasi - Carnegie Mellon University

Classification Of Robots

ROBOTS

Robot like devices: Prostheses

Exoskeletons Telecherics

Coordinate systembased robots:CylindricalSphericalCartesian

Human like robots:Humanoids, Androids,

Actroids,Geminoids,Gynoids

Robot like devices: Prostheses: The figure, showing a

prosthetic arm actuated by artificial muscles and fit to a human, describes the long-term goals of this research in which the patient will be able to control a multi-degree of freedom robot prosthesis that provides force feedback information.

Exoskeletons:Exoskeletons are a

skeletal framework to be worn by a human, specially soldiers and construction workers.

They are designed to assist and protect the wearer.

Telecherics/Telerobotics:

Telerobotics is the area of robotics concerned with the control of robots from a distance, chiefly using wireless connections (like Wi-Fi, Bluetooth) or tethered connections.

The figure alongside shows a mars rover.

Robots based on coordinate system:

Practical robots based on coordinate system:

Human like robots: Humanoid Android

The Honda HumanoidThe Honda Humanoid

Different Humanoids By Honda

Geminoids:

The Uncanny Valley:

Degree of freedom:

Sense organs in robots(The sensors):

SENSORS

Tactile sensors Proximity and rangesensors Sensor based systems

Tactile sensors:

PIE-ZO ELECTRICSENSORS

RESISTIVESENSORS

TACTILE ARRAY

SENSORS

TOUCHSENSORS

FORCESENSORS

TACTILE SENSORS

Proximity sensors:

INDUCTIVESENSORS

CAPACITIVESENSORS

HALLEFFECT

SENSORS

OPTICALPROXIMITY

SENSORS

PROXIMITYSENSORS

Evolutionary Algorithm:Charles Darwin first identified the process of

natural selection in his monumental work “The Origin of Species”.

Inspired by this natural process of ‘survival of the fittest’, evolutionary algorithms (EAs) attempt to find a solution to a problem using simulated evolution in a computer.

Types of EAs:There are two types of EAs:Genetic Algo (GA): It involves manipulating

a fixed-length bit string. The bit string represents a solution to the problem being solved; it is up to the programmer to determine the meaning of the string.

Genetic Programming (GP): It involves generating expression trees as used by languages such as LISP and SCHEME.

With genetic programming, actual programs can be created and then executed.

Applying EAs to Robotic NavigationEAs have been used to get a robot to learn

how to adapt to its limited capabilities. Using GP in this way is termed evolutionary learning.

In most of the EA applications, two distinct steps occur: an initial training period is conducted by running the EA on a training set, followed by the execution of the best-fit solution.

With Continuous and Embedded Learning, the two steps are linked and operated concurrently while the robot is performing its task.

The figure shows an outline of this approach where the key components are:

Learning continues indefinitely, allowing adaptation to sensory failure.

Learning is done on a simulation model.

The simulation model is updated to reflect changes in the real robot or environment

In an experiment, a robot was given the task of navigating to the opposite side of a room through a passage in a wall starting from one wall and heading in a random direction from -90 degrees to 90 degrees, with 0 pointing directly to the opposite wall.

With no evolution and all sensors functioning, the robot was able to navigate successfully about 25% of the time.

After 50 generations of evolution, the robot's success rate increased to about 61%.

With three sensors on the right side of the robot disabled after 50 generations, the success rate dropped to about 42%, but increased over 50 more generations to about 63%.

The results of the experiment show that a robot using CEL can not only learn how to improve its navigation abilities by itself, but also re-learn how to navigate after suffering the loss of some sensory capability

Living on Their Own:Ecosystem-like settings are

interesting from an alife perspective.

Within ecosystems, the main goal of a robot is self-preservation.

Resources, especially energy, are limited in time and space.

Consequently, robots must compete for them.

Thus competition forms the basis of all robot interactions in the system.

Biological Inspiration:When trying to re-create biological

phenomena, it makes sense to look at the biological world for some good initial pointers.

For instance, the study of robotic locomotion is aided by observing and imitating biological systems such as a spider.

A robot is limited when using wheels (very un-biological) in rough terrains, whereas a biologically inspired robot would have legs like that of a spider for maneuvering around and over obstacles

Implementation of knowledge:Line following robot:Line follower is a machine that can follow a

path. The path can be visible like a black line on a

white surface (or vice-versa) or it can be invisible like a magnetic field.

Practical applications of a line follower involve automated cars running on roads with embedded magnets; guidance system for industrial robots moving on shop floor etc.

Schematic Of a Line Follower:

References:References:http://www.robotics.utexas.edu/rrg/learn_more/

history/http://www.msnbc.com/modules/robot_history/http://www.thelightningguy.com/tesla.htmhttp://www.honda.co.jp/robot/movie/http://www.cooltoolawards.com/hardware/

Humanoid.htmhttp://www.ed.ams.eng.osaka-u.ac.jp/development/

Humanoid/ReplieeQ2/ReplieeQ2_eng.htmhttp://www.motionanalysis.com/applications/

movement/sports/hawksystem.htmlhttp://www.instructibles.comhttp://www.aibotix.com