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Dr Sanjoy Sanyal
Professor, Surgeon, Informatician
What is a Robot? (Slides 3 – 5)
Classification of Robots (Slides 6 – 7)
Table - ½ Century of Evolution of Robotics (Slide 8)
UNIMATE (Slides 9 – 16)
IRB 6 (Slides 17 – 23)
CONSIGHT-1 (Slides 24 – 25)
Humanoid Robot Evolution (Slides 26 – 28)
WABOT-1 (Slides 29 – 32)
WABOT-2 (Slides 33 – 36)
ASIMO Development (Slides 37 – 50)
BEAR (Slides 51 – 60)
BAXTER (Slides 61 – 72)
References / Acknowledgments (Slide 73)
Contrary to what Sci-Fi thrillers would have
us believe, Robots are not self-aware machines
They will not enslave us into bonded labors in
their version of ‘Silicon Mines’!
They will not wage war against Humans, like
‘Skynet’!
They will not send one of their own from the
Future to the Present to kill a boy, who they
have determined is destined to lead future
Humans against the Robots!!
1921: Czech playwright Karel Capek coined the term 'robot‘ in his play Rossom's Universal Robots
"Robot" is from the Czech word 'robota' which means ‘forced labor’
Today: It is a programmable device that can perform a specific function in response to a specific command
Therefore it has to have:
‘Sensory’ (Input) feature
Processing capability
‘Effector’ (Output) capability
Of course, if it also looks ‘Humanoid’ that will be the icing on the cake!
An analogy can be drawn with a person
Seeing a coin on the pavement (Sensory Input)
Deciding to pick it up (Processing)
And then doing so (Effector Output)
He has used the above three features, apart
from definitely looking ‘Human’
The 1st 2 Robots (Unimate, IRB 6) had limited
Processing and ‘Effector’ (Output) capability
But they had no ‘Sensory’ features, and
definitely no ‘Humanoid’ features either!
Based on Real-world Applications
Industrial: UNIMATE; IRB6; Consight-1; BAXTER
Military: BEAR, MATILDA, MARCbot, Packbot
Space: Robonaut 2; Sojourner; Spirit; Opportunity;
Curiosity; Canadarm2; Raven (Space Telesurgery)
Surgical: PUMA; NeuroMate; NeuroArm; Minerva;
RAMS; Raven; NeuRobot; da Vinci®, AESPOP®;
HERMES®; SOCRATES®; ZEUS®
Nursing: RIBA; Robear
Domestic / Entertainment: Chess-player, Vacuum
cleaner; Violin-player; Piano-player (WABOT-2);
Dancing Robot (ASIMO-3)
Based on Versatility
Mono-Tasking (‘Specialist’): WABOT-2 (Piano-player); Violin-
player; Vacuum cleaner; Chess-player; RIBA, Robear
Multi-Tasking (‘Versatile’): WABOT-1; ASIMO; BEAR;BAXTER
Based on Physical Appearance
‘Humanoid’ (Biped/Caster, Mobile): WABOT-1; WABOT-2;
ASIMO; Robonaut2; BEAR; PETMAN; BAXTER; RIBA; Robear
‘Non-Humanoid’: Most Robots in use nowadays
Robotic Arms (Non-mobile): Most Industrial Robotic Arms (IRB6,
UNIMATE,); Canadarm2; All Surgical Robots ( Previous slide)
Robotic Vehicles (Mobile): Martian Robotic Vehicles (Sojourner; Spirit;
Opportunity; Curiosity); Military Robots (MATILDA, MARCbot,
Packbot); DARPA Research Robots (Racing Cars, RHex, Sand Flea)
Quadruped Robots (Mobile): DARPA Research Robots (Cheetah)
Year ROBOT Company / Organization
1961 UNIMATE Slides 9-16 General Motors, USA
1972-1973 IRB 6 Slides 17-23 ASEA BB, Sweden
1978 CONSIGHT-1 Slides 24-25 General Motors, USA
1970-1973 WABOT 1 Slides 29-32 Waseda University, Japan
1980-1984 WABOT 2 Slides 33-36
1986-1993 Honda E Series Honda, Japan
1993-1997 Honda P Series
2000-2002 ASIMO-1 Slides 37-50
2004-2007 ASIMO-2
2011, 2014 ASIMO-3 +
2005- 2012 BEAR Slides 51-60 Vecna Technologies, USA
2012 BAXTER Slides 61-72 Rethink Robotics, USA
1st Industrial Robot
Year: 1961
Company: General Motors assembly line, Inland Fisher Guide Plant, Ewing Township, New Jersey
Inventor: George C. Devol
Weight: ~ 1 Metric Ton
Components: Big computer-like box, joined to another box, connected to an Arm, with systematic tasks stored in a Drum Memory (Cognitive Geometrics)
1950s: Devol created it 1954: Filed patent 1961: Received patent Patent Description: “The
present invention relates to
the automatic operation of
machinery, particularly the
handling apparatus, and to
automatic control apparatus
suited for such machinery”
Devol successively called it ‘Programmed Article Transfer’; ‘Manipulator’; and finally ‘Robot’
Programmed to transport die castings from an assembly line and welding these parts on auto bodies
Dangerous task for workers; Could be poisoned by gas fumes or lose a limb if they were not careful
Unimate was
obviously nothing like the Sci-Fi
versions of Androids,
or Humanoid
Robots
Kawasaki Unimate and ArcWorld Motoman
PROGRAMMABLE UNIVERSAL MACHINE FOR ASSEMBLY (PUMA) INDUSTRIAL ROBOT (1985 – ADVANCED RESEARCH & ROBOTICS, OXFORD, CT) : PUMA WAS THE 1ST TIME A ROBOT WAS EVER USED FOR NEUROSURGERY
UNIMATE PUMA 500 UNIMATE PUMA 200
In various shows, Unimate could do the following:
Knock a golf ball into a cup
Wave the orchestra conductor's baton
Grasp an accordion and wave it around
Pour beer for a gentleman!
Pour coffee for a lady!!
George Devol and his apprentice Joseph Engelberger started the world's 1st robot manufacturing company, UNIMATION, INC.
IRB 6 was 1st
model of ASEA
IRB
Year: 1972-1973
on assignment
by ASEA CEO
Curt Nicolin
Designers: Björn
Weichbrodt, Ove
Kullborg, Bengt
Nilsson, Herbert
Kaufmann
Company: ASEA
BB in Västerås,
Sweden
World’s 1st fully electrically-driven, Microprocessor-controlled industrial Robot, using Intel’s 1st chipset in a Programmable Microcomputer
Memory: 16 KB RAM
LED Display: Could display 4 Digits
Movement: 5 axis (Later 6)
Lift capacity: 6 kilograms
ASEA IRB: An industrial robot series
Years: 1975 to 1992
Functions: Material handling, Packing, Transportation, Polishing, Welding, Grading
1st IRB 6 could wax and polish stainless steel tubes bent at 90° angles
IRB 6 was the Swedish symbol for a new Labor market, shared between man and robot
Later versions of IRB 6 had 6 axis of movements
These versions came after 1988, when ASEA merged with Brown, Boveri and Cie to form ABB
With success of Unimate, other auto companies started using their own versions of Robotic Arms
A typical robot was designed to weld hot pieces of metal together in a repetitive fashion
Robots are good at repetitive, monotonous tasks requiring precision and / or those that are potentially dangerous for humans
Robotic Arms can perform such tasks tirelessly, while saving humans from harm
Today almost every car manufacturing plant uses Robots in their assembly lines
Robotic Arms Did Have
Programmable capability
Limited ‘Memory’
Movement in up to 6 Joints (Waist, Shoulder, Elbow, Wrist Bend, Flange, Wrist Rotation)
Robotic Arms Did NOT Have
‘Sensory’ facilities: Ability to pick up Visual /Auditory cues from environment
‘Humanoid’ appearance
Therefore, devising a Robot with ‘Sensory’ capability was the next logical step
In foreground is a Metal Table, with a reflective surface
On left foreground is a black Robotic Arm
Behind the table is a Conveyor Belt
The man is placing Objects on the Belt, with ‘1978 Consight’, ‘771015-25’ etc written
Above the Belt is a Frame of black pipes with Sensors
‘A Vision-Controlled Robot System’
‘A Practical Vision-based Robot Guidance System’
1st Robot with ‘Sensory Input’ capability
Year: ca. 1978
Company: General Motors
Use: Transfer parts on conveyor belts
Visual Sensors could detect and sort 6 different kinds of auto parts from a Conveyer Belt transporting 1,400 auto parts / hour Pictures: Courtesy SciShow (Brief History of Robotics)
1495: Leonardo da Vinci created a
‘Humanoid Automaton’
Apparently, it could sit up, move its
arms, twist its head
Cloaked in European medieval
armor like a Knight
Discovered in manuscripts in 1950
Side issue: da Vinci Surgical System®
is a master-slave robotic system
created by Intuitive Surgical, Inc.
in 1997. It has 3-D visualization
and Endo-wrist®. It got FDA
approval for Abdominal and
Cardiac surgery in 2000 and 2002. It
is used in 210 centers worldwide.
Elektro was closer to the
concept of a ‘Humanoid Robot’
Company: Westinghouse
Electric Corporation
Year: 1937 – 1938
Stats: 7’ tall; 265 lbs weight
Walked on voice command
Spoke 700 words through a 78-
rpm record player
World Fair (1939): Smoked
cigarettes, blew up balloons,
distinguished between red and
green lights, moved his head
and arms
Till 1970s: Artificial Intelligence (AI) was
still in its infancy
‘Android Robots’ were designed to
mathematically calculate and analyze
what they ‘saw’ in their environment
These ‘Retro Robots’ got ‘paralyzed’ after
moving forward by a meter, overwhelmed
with all the new input
1980s -1990s: Turning point in study of
AI; A Robot did not need a highly
accurate representation of the world to
interact with it, an idea inspired by
movement of Nature itself
This new perspective revolutionized the
study of AI and Robotics
WABOT: WAseda RoBOT
Designer: Ichiro Kato
Institution: Waseda University in Tokyo, Japan
Year: 1970 – 1973
1st full-scale Anthropomorphic Humanoid Locomotion-type ‘Versatile’ Robot
WABOT-1 Features:
Limb Control System
Artificial Eyes, Ears, Mouth
Distance and Direction Sensors
Tactile Sensors
Gripping, Transporting Objects
Vision System
It used eyes to recognize objects
It could determine distance/direction
Speech System
It could converse with people
Initially only in Japanese
Mental Faculty: Of a 1 ½ year-old child
Limb Control System
Lower Limbs:
Biped stance
Bipedal locomotion
Upper Limbs:
Tactile Sensors on its Hands
Could Grip and Transport objects
WABOT-1 consisted of
WAM-4: Artificial hands
WL-5: Artificial legs
Could measure distance
Locate direction of things it searched for
All these were possible due to:
External Receptors
Artificial Eyes
Artificial Ears
Artificial Mouth
WABOT-1 was classified as a ‘Versatile’ Robot
Picture: Courtesy SciShow (Brief History of Robotics)
Year: 1980 – 1984
Institution: Waseda University, Japan
Type: Humanoid ‘Specialist’ Robot in the 1980s
WABOT-2 Features:
Camera
Skilful Hands
Speakers and Microphones
80 microprocessors
50 Degrees of Freedom
‘Intelligent’: Could play keyboard
‘Expert’ Hands: Could play quite difficult tunes
Conversation: Could converse with people in Japanese
‘Vision’: Installed cameras served as ‘Eyes’ ‘Reading’: Could read musical notes
‘Hearing’: Could listen, accompany singers, adjust its tempo ad-hoc
Mission of WABOT-2:
Playing a keyboard
instrument was set up
as an ‘intelligent’ task
WABOT-2 aimed to
accomplish that
An artistic activity such
as playing a keyboard
instrument required
human-like intelligence
and dexterity
WABOT-2 was defined
as a ‘Specialist Robot’
rather than a ‘Versatile
Robot’ like WABOT-1
1984 version is pictured here
ASIMO: Advanced Step in Innovative MObility
Humanoid Robot
Company: Honda, Japan
Year: 21 October 2000
Height: 51 inches (130 cm)
Can walk or run at speeds of up to 3.7 mph (6 km/hour)
Can climb up / down stairs, carry a tray, push a cart
Can detect movements of multiple objects
Assess distance, direction
Can greet a person when he/she approaches
Honda’s Goal: Create a walking robot which can adapt and interact in human situations, and improve quality of life
1980s: Began developing Humanoid Robots preceding ASIMO
Honda E Series (1986-1993): E0 was the 1st Bipedal Model
Honda P Series (1993-1997): Included 1st self-regulating, Humanoid Walking Robot with wireless movements (Right pic.)
E- and P-Series paved the way for ASIMO (Lower picture; P3 on left, ASIMO on right)
Weight: 52 Kg
Height: 120 cm
Width: 45 cm
Depth: 44 cm
Walking Speed: 1.6 km/ hr
Running Speed: Nil
DoF (Degrees of Freedom): 26
Battery: Ni-mH; 38.4 Volts; 4
hours to fully charge
Battery Time: 30 minutes
Languages: Nil
Ideal Height: Between 120 cm and
height of an average adult, for
operating door knobs, light switches
Battery: Transition from Nickel
Metal Hydride (in Asimo-1) to
rechargeable 51.8V lithium Ion
battery (in Asimo-2/3) increased
operating time to 1 hour
Computer: 3-D Computer Processor;
Consists of 3-Stacked die, Processor,
Signal Converter and Memory
Location: In the ‘waist’ area and can
be controlled by a PC, Wireless
Controller or Voice Commands
Weight: 54 Kg
Height: 130 cm
Width: 45 cm
Depth: 37 cm
Walking Speed: 2.5-2.7 km/hr
Running Speed: 3-6 km / hr
DoF: 34
Battery: Li-Ion; 51.8 Volts; 3 hours
to fully charge
Battery Time: 40-60 minutes
Languages: Nil
Weight: 48 Kg
Height: 130 cm
Width: 45 cm
Depth: 34 cm
Walking Speed: 2.7 km/hr
Running Speed: 9 km / hr
DoF: 57
Battery: Li-Ion; 51.8 Volts; 3
hours to fully charge
Battery Time: 60 minutes
Languages: English, Japanese
Walking Speed: 2.7 kilometers per hour (1.7 mph)
Running Speed: 9 kilometers per hour in a Straight line
Determined by:
Floor Reaction Control and
Target Zero Moment Point Control
Tokyo Motor Show 2011
Asimo-1 (2000-2002)
Asimo-2a (2004)
Asimo-2b (2005-2007)
Asimo-3 (2011)
Walking 1.6 km/hour 2.5 km/hour 2.7 km/hour 2.7 km/hour
Running Nil 3 km/hour 6 km/hour 9 km/hour
Movements are determined by Floor Reaction Control and Target Zero Moment Point Control
These enable ASIMO to keep firm stance and maintain position
Can adjust length of steps, body position, speed and direction of step
Sole of Foot is part of the Floor Reaction Control
ASIMO 2004-2007 has total of 34 DoF
Calculation 1: Neck, Shoulder, Wrist, Hip Joints
each have 3 DoF (Total = 21 DoF)
Hand (4 fingers + thumb) each has 2
DoF (Total = 4 DoF)
Ankle each has 2 DoF (Total = 4 DoF)
Waist, Knees, Elbows each have 1 DoF
(Total = 5 DoF)
Calculation 2: Head = 3 DoF
Arms = 7×2 (=14 DoF)
Hands = 2×2 (=4 DoF)
Torso = 1 DoF
Legs = 6×2 (=12 DoF)
Dancing in Disneyland 2005
Asimo 2000-2002
Asimo 2004-2007
Asimo 2011
Head (Neck) 2 3 3
Arm (Shoulder, Elbow, Wrist)
5 x 2 = 10 7 x 2 = 14 7 x 2 = 14
Hand (Fingers) 1 x 2 = 2 2 x 2 = 4 13 x 2 = 26
Torso (Waist) 0 1 2
Leg (Hip, Knee, Ankle)
6 x 2 = 12 6 x 2 = 12 6 x 2 = 12
Total DoF 26 34 57
Conducting an Orchestra in April 2008
Environment Identifying Sensors: (1st picture)
Visual Sensors
Ground Sensors
Ultrasonic Sensors
Visual Sensors: 2 cameras inside Head; Used to detect obstacles (2nd picture)
Ground Sensors: In lower portion of Torso; Includes 1 Laser Sensor and 1 Infrared (IR) Sensor (1st picture)
Laser Sensor: Detects ground surface
IR Sensor: With automatic shutter based on brightness
Detects pairs of floor markings to confirm navigable paths of the planned map (2nd picture)
Ultrasonic Sensors: In the Front and Rear; To sense Obstacles
Front Sensor: In the lower portion of Torso, with the Ground Sensors (1st picture)
Rear Sensor: At the bottom of backpack (2nd
picture)
BEAR: Battlefield Extraction-Assist Robot
Company: Vecna Technologies, Cambridge Research Laboratory near Boston, Massachusetts
Inventor: Daniel Theobald, President and CTO of Vecna
Year: 2005 (Version 1); 2012 (Version 8)
Form: Some ‘Humanoid’ features –Head, Neck, Torso, 2 Arms, 2 ‘Legs’ (which are actually treads)
Purpose: Evacuate wounded soldiers from battle zone with no risk to human life; Transport civilians from disaster area
1. Teddy Bear Face: Reassures wounded soldier
2a. Hydraulic Upper Torso Actuator: Carries 520 lbs (236kgs); Earlier version carried 360 lbs
2b. Hydraulic Exertion: 3000 PSI
3a. Kneeling: Tracked ‘legs’ travel over rubble
3b. Standing: Switches to wheels on smooth surfaces
4. Dynamic Balance Behavior (DBB): Can carry heavy loads upright on its Ankles, Knees or Hips for 1 Hour
Maintains balance in any position even while carrying heavy objects
5. Frame: Aluminum (1st
version); Steel (2nd next version); Titanium (Subsequent versions)
Explosion and Fire-resistant
Steel framing around the hydraulic lines and battery
Hydraulic Actuator in
Torso is controlled by
Solenoids that turn the
Hydraulic Valves on and
off to make Robot move
Tracked Legs are
electronically powered
Battery Pack powers the
Tracked Legs for 1 hour
Developments to Battery
Pack will double its
capacity and give the
Tracked Legs 2 hours of
run time
Hands are very strong
Hydraulic Actuator
gives it ability to lift
520 lbs
Previous versions
could lift 360 lbs
Titanium frame will
increase its lifting
capacity
Pictures show it lifting
a 185 lb dummy
Very precise grip; Can
grasp an egg without
breaking it
Slides its ‘Arms’ under its
burden like a forklift
Later versions are fitted
with maneuverable hands
to gently scoop up
casualties
Can lift 135kg with its
hydraulic arms in a single
smooth movement, to
avoid causing pain to
wounded soldiers
However, there is no
feature to support the Head
of an unconscious soldier
Independent legs for enhanced mobility
Combination of Gyroscopes and Computer-controlled motors maintain balance
Can cross bumpy ground without toppling
Can tackle stairs while carrying a human-sized dummy
Remotely Controlled: An operator can see and hear through IR, Night Vision, Optical Cameras and Microphone installed in BEAR
Touch and Pressure Sensors on BEAR's Hands
Chemical and Biological Agent detection Sensors
Voice Commands: BEAR AI can process it
BEAR can ask for assistance
iGlove: Motion-capture glove allows soldier to make a simple hand gesture to command the Robot
Mounted Force Controller. Special rifle grip mounted on M-4 carbine
Narrow enough to squeeze through doorways
Search and Rescue operations
Transporting supplies
Clearing obstacles
Lifting heavy objects
Handling hazardous materials
Reconnaissance
Inspecting for mines and IEDs
Civilian Rescue: Mineshafts, Earthquakes, Fire, Mudslides
Industrial: Moving heavy inventory
Healthcare: Heavy patients, Handicapped, Elderly
Humanoid Industrial Robot with
Two 7-axis arms
Screen mimicking an animated Face
Integrated Cameras
Sonar
Torque Sensors
Direct Programming access
Height: 3-foot without pedestal; 5'10" - 6'3" with pedestal
Weight: 165 lbs without pedestal; 306 lbs (138 kg) with pedestal
Cost: $25,000 (£19,000/ €22,000)
Company: Rethink Robotics
Founder: Rodney Brooks
Year: September 2012
Performs simple industrial jobs and dull tasks on a production line; such as
Loading / Unloading
Sorting
Handling of materials
Baxter runs on open-source Robot Operating System on a regular, Personal Computer which is embedded in its chest
Baxter does not need elaborate programmingor software engineersAny worker can program Baxter in minutesUsual industrial robots require extensive codes and programs
Baxter has extra sensors in its hands that allow it to pay very close attention to detail
Face is an animated screen
Baxter can express itself by making facial expressions
Its face can show what it is focused on, and its current status
It can express confusion when something is not right
Baxter has sensors surrounding its Head that allow it to sense people nearby
Sensors around its head allow Baxter to adapt to its environment
It knows that it cannot continue with its job if it drops a tool
Most other industrial robots either try to do their task repeatedly despite lacking the proper tools, or shut down, or stop working at the slightest
change in their environment Extra dials, buttons, and
controls are available on Baxter's arm for more precision and features
Sorting objects, brewing coffee, folding a T-shirt, handling a kitchen knife, looping wires, etc; Baxter can learn You move your hands in the desired motion and Baxter can memorize themBaxter can be taught to perform multiple complicated tasks
Hank Green. SciShow Presenter; A Brief History of Robotics. (The inspiration behind this PPTX) URL: https://www.youtube.com/watch?v=uoC2ZGRI8a8
History of Robots: URL: http://www.robots-and-androids.com/history-of-robots.html
Consight: URL: http://www.computerhistory.org/collections/catalog/102640482
Waseda University Humanoid: URL: http://www.humanoid.waseda.ac.jp/booklet/kato_2.html
Thank you for watching