y robotics is the science that studies robots and the c technology · 2009. 2. 24. · fidv...

What is RoboticsC

Y Robotics is the science that studies robots and the

02C

FIC technology that builds them

CFI

DV

Robotics started its development during WWII (Manhattan project)

CA

–01

C

Robots (seen as an artificial beings) appeared in b k d i l b f l li ti

OB

OTI

C books and movies long before real applications

RO

Basilio Bona – DAUIN – Politecnico di Torino 002/1

Robotics

R b ti i ltidi i li fi ld

CY

Robotics is a multidisciplinary field– mechanics (structures, …)

l t i ( t t t l b d )

02C

FIC – electronics (sensors, actuators, control boards, …)

– electrical engineering (motors, drives, power sources, …)– information technologies (algorithms OS AI )

CFI

DV

– information technologies (algorithms, OS, AI, …)– advanced control– communications

CA

–01

C communications

but also– material sciences and nanotechnology

OB

OTI

C material sciences and nanotechnology– cognitive sciences, neurosciences– human-machine interfaces

RO

– ergonomy, safety– biomimesis, ethology


RobotsC

Y

Robots are artificial beings. Two types of artificial beings exist:

02C

FIC beings exist:

– Those that include biological material or parts capable of auto-organization

CFI

DV

– Those that do not contain any biological parts

Robots discussed here belong to the second type; they

CA

–01

C Robots discussed here belong to the second type; they do not contain biological parts, but they may be able to– move autonomously in a partially known environment

OB

OTI

C y p y– interact with humans (supplying collaborative behavior)– cooperate with other robots to execute specific tasks

RO – learn from a teacher or from their experience


Robotics: a timeline

1) 1818 1942 b t d ib d ith i l d l i

CY

1) 1818-1942: robots are described either in novels and plays or in science fiction stories (Frankenstein, RUR, Asimov, …)

2) 1945: tele manipulators used for nuclear products processing

02C

FIC 2) 1945: tele-manipulators used for nuclear products processing

3) 1948: Grey Walter (UK) builds “turtle robots” Elmer and Elsie4) 1956: Unimation is the first industrial robot firm

CFI

DV

4) 1956: Unimation is the first industrial robot firm5) 1961: first robot on GM car lines

CA

–01

CO

BO

TIC

1

RO 3


2 4

Robotics: a timelineC

Y

6) 1970: SRI Shakey7) 1975: PUMA manipulator

7

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FIC ) p

8) 1979: Stanford cart9) 1999: Sony AIBO

CFI

DV

) y10) 2000: Honda Asimo11) 2004: Mars rovers Spirit & Opportunity

68

CA

–01

C ) p pp y12) 2006-7: DARPA Challenge

910

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OTI

C 9

11

RO

12


Robots in the movies

Forbidden Planet (1956)

CY

Metropolis (1927) Forbidden Planet (1956)

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FIC

CFI

DV

Star Wars (1977)

Robocop (1987) Terminator (1984)

CA

–01

C Terminator (1984)

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OTI

CR

O

Robots are either “good” or “bad”


A possible future scenarioC

Y02

CFI

C

Object

Interaction withenvironment

CFI

DV

Object manipulation

CA

–01

CO

BO

TIC

RO

Autonomous motion


What we can expect in the near future C

Y

Better to be prudent, considering some forecasting …

02C

FIC

Heavier‐than‐air flying machines are impossibleWilliam Thomson, Lord Kelvin, 1895

CFI

DV

Nuclear powered vacuum cleaners will probably be a reality within 10 years

Al L t P id t f th L t C ti 1955

CA

–01

C Alex Lewyt, President of the Lewyt Corporation , 1955

There is no reason for any individual to have a computer in his home

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OTI

C homeKen Olson, President and fouder, Digital Equipment Corp., 1977

RO


Europe and RoboticsC

Y02

CFI

C

The European Robotics Platform EUROP anticipates three key sectors for research efforts

CFI

DV

C

A –

01C

OB

OTI

C

Industrial Robotics Service Robotics Safety and Space

RO Industrial Robotics Service Robotics Safety and Space

Robotics


I d t i l R b t


Y

Industrial Robotsto achieve high-quality and cost-effective flexible manufacturing and logistics in all

02C

FIC flexible manufacturing and logistics in all

major industrial branches

CFI

DV

Gradually, these future robots will become the workers’ assistants serving them at the workplace.

Th ill t th titi d t t

CA

–01

C They will carry out the repetitive and strenuous parts of a worker’s task and will increasingly safeguard workers from accidents and other relevant health care

OB

OTI

C problems, thus alleviating the concerns of rising health care costs, particularly for small manufacturers.

RO


Service Robots


Y

Service RobotsService robots will be found in all domains of our future life. They represent not only a hope for a more convenient world but also a massive new market for high technology industries

02C

FIC industries.

This sector offers significant opportunities for European industry. Service robotics can be conveniently divided into in three market segments, that handle very different

CFI

DV

situations.

Professional ApplicationsEntertainmentD ti U

CA

–01

C Domestic Use

OB

OTI

CR

O


Security and Space Robots


Y In the coming years, security enforcement In the longer term, other major application

Security and Space Robots

02C

FIC g y , y

… will rely more and more on automated systems. In the first instance, civil security missions will include surveillance of surveillance of

g , j ppdrivers will include maritime surveillancemaritime surveillance(traffic control and monitoring of ship movements, supervision of illegal fishery),

CFI

DV

critical infrastructurecritical infrastructure(telecommunication and power lines, water, gas and oil pipelines, etc.) and extended extended

gcrime monitoring, search and rescue crime monitoring, search and rescue operations, environmental monitoringoperations, environmental monitoring(fire detection and fire fighting, oil spill

CA

–01

C

border and coastal patrolborder and coastal patrol boosted by the shift of EU borders to the East and the need toto monitor illegal immigration monitor illegal immigration flfl

discovery, etc.) and surveillance of surveillance of hazardous materialshazardous materials.

OB

OTI

C fluxesfluxes.

RO


SpaceEurope and Robotics

CY

The application of robotics in space is unique in that it forces the robot to operate without direct human assistance and acts as a platform for the projection of human capabilities to remote and hostile environments. Robotic applications in space fall into two

02C

FIC categories: assembly/repair in space and planetary exploration:

Assembly & Repair in Space

CFI

DV

y p pSpace-based robotic manipulators provide the basis for on-orbit servicing of satellites, through the replacement of equipment modules.

Planetary Exploration

CA

–01

C Planetary ExplorationRobots will become the personal assistants of astronauts. They will operate on distant planets, using high level directives, responding to and interacting with humans. They will be our agents of planetary surface and deep space exploration handling the repetitive

OB

OTI

C be our agents of planetary surface and deep space exploration, handling the repetitive and time-consuming tasks of data collection and data reduction. Teams of robots will survey vast regions, and will classify geological features and formations and search for evidence of life

RO evidence of life.


Possible future applications – USAC

Y

Research is mainly funded by DARPA -Defense Advanced Research Projects Agency

02C

FIC g y

– Homeland security systems– UAV: Unmanned Aerial Vehicles

Autonomous vehicles for urban

CFI

DV

– Autonomous vehicles for urban environment (DARPA challenge)

– Battlefield intervention systems

CA

–01

CO

BO

TIC

RO


Possible future applications – USAC

Y

In the days following 9/11 several robots were used for SAR (Search and Rescue) tasks

02C

FIC )

Results were disappointing, but the lesson learned was important

CFI

DV

– Better HMI/HCI – Better operators training– Sensors interchangeability

CA

–01

C

– Improved autonomy– Physical configuration

OB

OTI

CR

O


Military ApplicationsC

Y02

CFI

CC

FID

V

CA

–01

CO

BO

TIC

RO

Domesticli ti


applications

RoboethicsC

Y02

CFI

CC

FID

V

CA

–01

C

The focus of the TC includes

1. the unintended warfare uses of

OB

OTI

C robotics research results 2. the preservation of human integrity in

the interaction with robotic (even

RO

(bionic) systems

3. and the study and development of the robot-ethics concept

Basilio Bona – DAUIN – Politecnico di TorinoAA 2006/07 002/17

robot ethics concept

Possible future applications – Japan

Entertainment and aging people

CY

Entertainment and aging people support robots

02C

FIC

CFI

DV

Nurse 1

CA

–01

C

Nurse 2

AIBO falls

OB

OTI

C

Promet dances

RO


Possible future applications – EU

Service Robotics

CY

Service Robotics– Home support for impaired or aged

people (assistive robotics)Prosthesis and rehabilitation services

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FIC – Prosthesis and rehabilitation services

– Hospital logistic and physicians supportSearch and rescue

CFI

DV

– Search and rescue – Surveillance, cleaning, house-

keepingLogistic support services

CA

–01

C – Logistic support services

OB

OTI

CR

O


CY

02C

FIC

CFI

DV

C

A –

01C

OB

OTI

CR

O


To build future robots …C

Y

It is not sufficient to give them two arms and two legs

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FIC

CFI

DV

C

A –

01C

OB

OTI

CR

O

… a brain must be included


What is the difference between industrial and service/mobile robotics?

CY

/

02C

FIC

CFI

DV

C

A –

01C

OB

OTI

CR

O


Industrial roboticsC

Y02

CFI

C

Industrial robotics: it is mainly focused on manipulation

CFI

DV

Traditional manufacturing sectors: handling, assembling, welding, packaging, painting, glue and seals deposition

CA

–01

C

Growing diffusion in non traditional sectors (agricolture, clothing, food industry, small components mounting, pharmaceutical, etc.)

OB

OTI

C p , )

RO



Y02

CFI

CC

FID

V

CA

–01

CO

BO

TIC

RO


Service roboticsC

Y

Mobile and service robotics: mainly focused on autonomous motion and sensor-based intelligence

02C

FIC

Surveillance, securityLogistics and cleaning Domestic and assistive robotics for disabled/impaired/aged

CFI

DV

Domestic and assistive robotics for disabled/impaired/aged peopleHospital services

CA

–01

C

Natural disaster intervention Humanitarian demining, clearing up of contaminated or polluted areas

OB

OTI

C areasSpace explorationUnderwater exploration

RO Aerial reconnaissance

… others…


This course

CY

This course

02C

FIC

First industrial robotics Then service robotics

CFI

DV

C

A –

01C

OB

OTI

CR

O


Course OutlineC

Y

3D mathematical representation: vectors, matrices, roto-translatins, etc.

3D mathematical representation: vectors, matrices, roto-translatins, etc.

02C

FIC

Direct and inverse kinematicsDirect and inverse kinematics

CFI

DV

Statics: forces and torquesStatics: forces and torques

CA

–01

C

Dynamics: the model for simulation and control

Dynamics: the model for simulation and control

OB

OTI

C controlcontrol

Robotica mobile Robotica mobile

RO

Structures, sensors, algorithmsStructures, sensors, algorithms


Structures, sensors, algorithmsStructures, sensors, algorithms

y robotics is the science that studies robots and the c technology · 2009. 2. 24. · fidv...

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