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Fundamentals of RoboticsFundamentals of RoboticsLinking perception to actionLinking perception to action

1. Introduction to Robotics1. Introduction to Robotics

南台科技大學南台科技大學電機工程系電機工程系謝銘原謝銘原

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Introduction to RoboticsIntroduction to Robotics

ManfacturingManfacturing Human/Artificial intelligenceHuman/Artificial intelligence MotionMotion

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ManufacturingManufacturing

ManufactureManufacture Manus – hand; factus – to make Manufacture – to make by hand, making things by handmaking things by hand

A manufacture processA manufacture process Labor, equipment, materials (parts, or components)

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Outline of a factory in manufacturingOutline of a factory in manufacturing

Production andAutomationSystem

Manufacturing Support System

Manufacturing ExecutionSystem

Manufacturing Design System

EnterpriseInformation andManagementSystem

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Factory AutomationFactory Automation

Process optimizationProcess optimization

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Automation and robotsAutomation and robots

The aim of automationThe aim of automation To eliminate the direct involvement of labor in the process interact

ion.

The role of labor – From direct involvement to indirect programming and/or monitoring

of automated equipment.

The role of machine – To domain all the automatically controls.

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Mechanism v.s. MachineMechanism v.s. Machine

Mechanism –Mechanism – A set of (mechanical) elements arranged in certain configurations for the purpose of transmitting motions in a predetermined fashion.

e.g. bicycle

Machine –Machine – A super-set of mechanism(s), and contains elements which supply energy to drive this mechanism(s).

e.g. motorcycle or car

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RobotRobot

RobotRobot Robota (Czech word) –

meaning forced workers In 1921, a play named “Rossum’s Universal Robots”

by Karel Kapek. A scientist (Rossum) created human-like machines that revolte

d, killed their human masters, and took control of the world.

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Definition of Industrial RobotDefinition of Industrial Robot

by the Robot Institute of Americaby the Robot Institute of America A robot is a programmable, multi-functional manipulator

designed to move material, parts or specialized devices through variable programmed motions for the performance of a variety of tasks.

Engineering view –Engineering view – A robot is the embodiment of manipulative, perceptive,

communicative, and cognitive abilities in an artificial body. which may or may not have a human shape.

It can advantageously be deployed as a tool, to make things in various environments.

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Typical examples of industrial robotsTypical examples of industrial robots

Typical applicationsTypical applications Welding (焊接 )

The process of joining two work-pieces together by applying molten weld metal.

Cutting (切削 ) The process of applying thermal or mechanical energy to cut a work p

iece into a specific shape. Assembly (裝配 )

The process of either adding components to form a single entity, or affixing components to a base unit (e.g. to place components on a printed circuit board).

Material Handling (物料配送 ) The process of either packaging parts into a compartment (box) or loa

ding/unloading parts to/from another station.

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Definition of Humanoid RobotDefinition of Humanoid Robot

A humanoid robotA humanoid robot is the embodiment of manipulative, perceptive, communicative,

and cognitive abilities in an artificial body similar to that of a human,

which possesses skills in executing motions with a certain degree of autonomy, and

can be advantageously deployed as agents to perform tasks in various environments.

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PINO PINO http://www.symbio.jst.go.jp/PINO/index.htmlhttp://www.symbio.jst.go.jp/PINO/index.html – ZMP INC.– ZMP INC.

OpenPINO (PINO-class Humanoid Robot Platform) is OpenPINO (PINO-class Humanoid Robot Platform) is an attempt to create Linux-like open source development communi

ty by disclosing technical information based on PINO.

Everyone can use PINO as a base of the research and development,

Software is disclosed under GPL (GNU General Public License)

Electric circuits and mechanical design diagrams are released under GNU Free Documentation License.

(Please note that esthetic design is proprietary property, thus not a subject of open source release.)

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OpenPINO platform (PHR-0001)OpenPINO platform (PHR-0001)

We recognize that OpenPINO platform (PHR-0001) disclosed is a simWe recognize that OpenPINO platform (PHR-0001) disclosed is a simple design, and has many room for improvement.ple design, and has many room for improvement.

It was only intended to be minimum platform that serve as a starting pIt was only intended to be minimum platform that serve as a starting point of the collective efforts. oint of the collective efforts.

Please remember when Linux disclosed his initial Linux kernel. It was a collective efforts of many people who are interested that contribut

ed formation of current Linux system.

OpenPINO is the first attempt in robotics that tries to evolve through oOpenPINO is the first attempt in robotics that tries to evolve through open source movement. pen source movement.

We wish that this initiative contributes to promotion of scientific research and triggers faster growth of the industry.

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TMSUK’s humanoid robot TMSUK’s humanoid robot http://www.tmsuk.co.jp/english/robots.htmlhttp://www.tmsuk.co.jp/english/robots.html -- TMSUK INC. -- TMSUK INC.

A/ TMSUK-1, 1993A/ TMSUK-1, 1993a Receptionist Robota Receptionist Robot

B/ TMSUK-2, 1993B/ TMSUK-2, 1993a Robot with Voice a Robot with Voice Recognition and Recognition and Converse TechnologiesConverse Technologies

C/ TMSUK-3, 1998C/ TMSUK-3, 1998the world’s first experiment the world’s first experiment robot controlled remotely robot controlled remotely by use of PHS network.by use of PHS network.

D/ TMSUK-4, 1999D/ TMSUK-4, 1999a Remote-controlled Robot a Remote-controlled Robot

A BC D

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TMSUK, 2005TMSUK, 2005

R/ MUJIRO RIGURIO R/ MUJIRO RIGURIO Outdoor security and Outdoor security and information robot information robot

S/ SHINPO S/ SHINPO Humanoid Two-legged Humanoid Two-legged Walking RobotWalking Robot

T/ PRE-HOSPITAL CARE ROBOT T/ PRE-HOSPITAL CARE ROBOT A new type of life-saving robotA new type of life-saving robot

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FUJITSU’s humanoid robotFUJITSU’s humanoid robot

Humanoid Robot HOAP-1Humanoid Robot HOAP-1 This robot can be used for various

types of research and development, such as

the development of motion control algorithms for a two-legged walking motion,

other motion algorithms used with the basic simulation software, and

research on human-to-robot communication interfaces. HOAP-1 is light and compact, standing 48cm tall and weighing 6k

g. Since internal interface information for the robot's hardware and

software are disclosed, users can freely develop programs using its open architecture.

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HOAP: HOAP: Humanoid for Open Architecture PlatformHumanoid for Open Architecture Platform

Humanoid Robot HOAP-2Humanoid Robot HOAP-2 Compact, light weight, and

easy-to-treat, HOAP(1)-2 is a genuine humanoid

robot with two arms and two legs.

HOAP-2's gesture expressionHOAP-2's gesture expression has been enhanced with moving head, waist, and hands.

Using motor current control, except for his head and hands, the movements are much smoother.

HOAP-2 is easily connected to your personal computer. You can use him as a human robotics research tool for studying areas,

such as movement control and communications with humans.

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Impact of Industrial RobotsImpact of Industrial Robots

ProductivityProductivity （生產力）（生產力） Robots can increase productivity because of their continuous physi

cal effort without rest.

FlexibilityFlexibility （靈活性）（靈活性） The robot, reprogrammable equipment, is undoubtedly one of the

best tyoes if equipment for flexible automation.

Quality of ProductsQuality of Products （產品品質）（產品品質） Robots can not only execute accurate motions repeatedly, but are i

mmune to the emotional states which affect human’s performance.

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Impact of Industrial Robots (Continued)Impact of Industrial Robots (Continued)

Quality of Human LifeQuality of Human Life （生活品質）（生活品質） The use if robots can free humans from doing dirty, dangerous, an

d difficult jobs.

Scientific DisciplineScientific Discipline （科學訓練）（科學訓練） Robotics, the study of robots, is an important subject and can be as

a scientific discipline for education and research.

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Impact of Humanoid RobotsImpact of Humanoid Robots

IndustryIndustry Maintenance

Unmanned factory Construction of buildings or houses

Diagnostics Rehabilitation of patients

Security Assistance in hospitals for certain tasks, e.g. precision surgery

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The next great consumer product – The next great consumer product – Humanoid robotHumanoid robot

Robot-assisted EntertainmentRobot-assisted Entertainment Preprogrammed interactions, animal-like robot

Robot-assisted Healthcare at HomeRobot-assisted Healthcare at Home Pre-hospital diagnostics or treatments (by appropriate pre-coded

programs)

Robot-assisted Education at HomeRobot-assisted Education at Home Private tuition with preprogrammed and selectable knowledge and

skills Robot-assisted education, virtual university, life-long learning at

home (for all children and adults)

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Human intelligenceHuman intelligence

Constituent elementsConstituent elements Perception Learning Thinking Action

IntelligenceIntelligence is the ability to link

perception to actionsfor the purpose of achieving an intendedoutcome.

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Related topics in RoboticsRelated topics in Robotics

Mechanism and Kinematics, Mechanism and Kinematics, Actuation Elements and DynamicsActuation Elements and Dynamics, , Sensing Elements, Sensing Elements, ControlControl, Information and Decision-Making, , Information and Decision-Making, Visual PerceptionVisual Perception..

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Limb-Eye Coordination BehaviorLimb-Eye Coordination Behavior

Vision-guided manipulationVision-guided manipulation hand-eye coordination

Vision-guided positioningVision-guided positioning head-eye coordination

Vision-guided locomotionVision-guided locomotion leg-eye coordination