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Robotics 101for Robofest

May 2005

CJ ChungLawrence Tech / Computer Science

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What is a Robot?What is a Robot? A remote-controlled machine is a robot:

True or False?

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What is a Robot?What is a Robot?A machine whose behavior can be

programmed …Then, is a VCR a robot?

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What is a Robot?What is a Robot? Is a tethered machine a robot?

Surprisingly, there is no exact definition of a robot

Today, people use ‘robot’ for almost any machine designed to be clever

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Introducing Roomba!

Vacuum Cleaner Robot

www.irobot.comAffordableVirtual Wall

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Autonomous Robot Mower, Another example of autonomous robots

Hitachi H8S/300H (Cf. Lego RCX: H8/3292) 16 bit micro controller (Cf. Lego RCX: 8bit) Written in C with Real-time Operating System

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RobotaRobota The term robot

originates from the Czech word, robota, meaning “compulsory labor (or slave)”

From the play R.U.R. (Rossum’s Universal Robots) by Czech play writer Karel Capek in 1921. The play RUR featured robots that The play RUR featured robots that

nearly took over the world.nearly took over the world.They stopped only when they could not They stopped only when they could not answer the question:answer the question:

““What do we do after we have What do we do after we have destroyed all of the humans?”destroyed all of the humans?”

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Three Laws of Robotics In 1942, Issac Asimov, An American

science fiction writer, introduced the word “robotics” in his short story

Law 1: A robot may not injure a human being, or, through inaction, allow a human being to come to harm

Law 2: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law

Law 3: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law

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Definition: (Autonomous) RobotA mobile computer situated in the

real world interacting with the environment through sensors and actuators in order to perform various intelligent tasks without without constant attentionconstant attention

Real robots do not need joy stick Real robots do not need joy stick remote controls!remote controls!

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Definition: “Robotics”

The science of building and programming robots

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Robots for Robots for 3D3D Jobs Jobs

DangerousDullDirty

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G. Walter’s Robot – The first Robot 1948, 1953A wheeled machine with motorsPhotocellsTwo vacuum tubesMoved toward light if moderate

intensityAvoided bright light

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Lots of Robots after Walter’s Robot …

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Lots of Robots after Walter’s Robot …

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Lots of Robots after Walter’s Robot …

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Lots of Robots after Walter’s Robot …

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Lots of Robots after Walter’s Robot …

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Lots of Robots after Walter’s Robot …

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Lots of Edutainment Robots after Walter’s Robot …

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First Raffle Ticket chosen by a Mobile Autonomous Robot [chung 4-15-00]

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First Ribbon Cutting by an Lego Autonomous Mobile Robot [chung 01]

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Lawrence Tech AIBO Robot soccer team

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A police robot extends a telephone to a red van parked on 15th Street and Pennsylvania Avenue near the White House Tuedsay, Jan. 18, 2005 in Washington. A man upset over custody of his child threatened to blow up his van a block from the White House on Tuesday, prompting a standoff with police, the FBI

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Weaponized robot, also known as SWORDS, in Englewood Cliffs, N.J., Friday, Jan. 14, 2005.

The Pentagon's research arm, the Defense Advanced Research Projects Agency, also recently awarded contracts to aid research of robots that one day could be dropped into combat from airplanes and others meant to scale walls using electrostatic energy — also known as "static cling."

Many of the vehicles being developed will have some autonomy, meaning they'll navigate rough terrain, avoid obstacles and make decisions about certain tasks on their own.

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… Humanoid Robots

Honda's "ASIMO" Rings Opening Bell at the NYSEFebruary 15, 2002

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More Humanoid Robots: SONY QRIO

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Design principles of autonomous agents, Rolf Pfeifer, 1996Autonomous – Have to solve tasks

without human interventionSelf-sufficient – They have to be able

to sustain themselves over extended period of time

Embodied – must be realized as a physical system capable of acting in the real world

Situated – The whole interaction with the environment must be controlled by the agent itself

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Fundamental Components of Fundamental Components of Autonomous RobotsAutonomous Robots

A brain (or brains)A brain (or brains) Body: physical chassis that holds Body: physical chassis that holds

other piecesother pieces Actuators: allows to move. Motors, Actuators: allows to move. Motors,

hydraulic pistons, lamps, etchydraulic pistons, lamps, etc SensorsSensors Power sourcePower source Communication

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Body: Mechanical Design ProblemsMovement: Changing locationSteering: Changing directionNavigation: Determining location

(very difficult task)

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Steering Mechanisms: Pivoting, Turning, and Walking Pivoting: see next slide Turning

•Today’s Cars are excellent example of turning steering

•Tricycles use a front wheel drive system•Bicycles use a rear wheel drive system

Walking: Very difficult to realize…•Four+ legged•Biped

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PivotingAlso known as Zero-turn radius

steering Independent left and right wheelsExamples: Bulldozers and TanksTwo driving wheels and a rear idle

wheelE.g.) Lego Roverbot

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Gearing

Proper Gear SpacingGear Reduction

•16 tooth : 16 tooth – 1:1

•16 tooth : 40 tooth – 2:5

•16 tooth : 8 tooth – 2:1

Worm Gear: n-to-1 reduction. Cannot be back-driven!

Pulley Wheels

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Sensors of Human

EyesEarsNoseSkinTongueEquilibrium: Balance… 6th sense(?)

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Robot Sensor Types Passive Sensors (does not require

power supply)•Touch•Temperature•Balance•…

Active Sensors (require power supply)•Light•Distance•Rotation•Sonar•…

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How to develop Intelligent Robots?The most difficult taskDeveloping intelligent and adaptive

software is the key

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Why Robotics in Classes?

Multi-disciplinary learning: all STEM (Science, Technology, Engineering, and Math) subjects

Develops critical thinkingProvides co-operative learning

environmentTeaches real-life lessons, not virtual

fantasy