Fundamentals of Robotics
Linking perception to action
1. Introduction to Robotics
南台科技大學
電機工程系
謝銘原
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Introduction to Robotics
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Manfacturing
Human/Artificial intelligence
Motion
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Manufacturing
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Manufacture
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Manus – hand; factus – to make
Manufacture – to make by hand, making things by hand
A manufacture process
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Labor, equipment, materials (parts, or components)
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Outline of a factory in manufacturing
Enterprise
Information and
Management
System
Manufacturing
Design System
Manufacturing
Execution
System
Production and
Automation
System
Manufacturing
Support System
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Factory Automation
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Process optimization
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Automation and robots
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The aim of automation
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To eliminate the direct involvement of labor in the process
interaction.
The role of labor –
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From direct involvement to indirect programming and/or monitoring
of automated equipment.
The role of machine –
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To domain all the automatically controls.
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Mechanism v.s. Machine
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Mechanism –
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A set of (mechanical) elements arranged in certain configurations
for the purpose of transmitting motions in a predetermined fashion.
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e.g. bicycle
Machine –
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A super-set of mechanism(s), and
contains elements which supply energy to drive this mechanism(s).
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e.g. motorcycle or car
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Robot
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Robot
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Robota (Czech word) –
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meaning forced workers
In 1921, a play named “Rossum’s Universal Robots”
by Karel Kapek.
A scientist (Rossum) created human-like machines that
revolted, killed their human masters, and took control of the
world.
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Definition of Industrial Robot
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by the Robot Institute of America
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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 –
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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 robots
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Typical applications
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Welding (焊接)
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Cutting (切削)
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The process of applying thermal or mechanical energy to cut a work
piece into a specific shape.
Assembly (裝配)
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The process of joining two work-pieces together by applying molten
weld metal.
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)
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The process of either packaging parts into a compartment (box) or
loading/unloading parts to/from another station.
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Definition of Humanoid Robot
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A humanoid robot
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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
http://www.symbio.jst.go.jp/PINO/index.html – ZMP INC.
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OpenPINO (PINO-class Humanoid Robot Platform) is
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an attempt to create Linux-like open source development
community by disclosing technical information based on PINO.
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Everyone can use PINO as a base of the research
and development,
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Software is disclosed under GPL
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(GNU General Public License)
Electric circuits and mechanical design diagrams
are released under GNU Free Documentation
License.
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(Please note that esthetic design is proprietary
property, thus not a subject of open source release.)
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OpenPINO platform (PHR-0001)
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We recognize that OpenPINO platform (PHR-0001) disclosed is a
simple design, and has many room for improvement.
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It was only intended to be minimum platform that serve as a starting
point of the collective efforts.
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Please remember when Linux disclosed his initial Linux kernel.
It was a collective efforts of many people who are interested that
contributed formation of current Linux system.
OpenPINO is the first attempt in robotics that tries to evolve through
open source movement.
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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
http://www.tmsuk.co.jp/english/robots.html -- TMSUK INC.
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A/ TMSUK-1, 1993
a Receptionist Robot
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B/ TMSUK-2, 1993
a Robot with Voice
Recognition and
Converse Technologies
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C/ TMSUK-3, 1998
the world’s first experiment
robot controlled remotely
by use of PHS network.
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D/ TMSUK-4, 1999
a Remote-controlled Robot
AB
CD
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TMSUK, 2005
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R/ MUJIRO RIGURIO
Outdoor security and
information robot
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S/ SHINPO
Humanoid Two-legged
Walking Robot
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T/ PRE-HOSPITAL CARE ROBOT
A new type of life-saving robot
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FUJITSU’s humanoid robot
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Humanoid Robot HOAP-1
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This robot can be used for various
types of research and development,
such as
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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
6kg.
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:
Humanoid for Open Architecture Platform
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Humanoid Robot HOAP-2
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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 expression has
been enhanced with moving head,
waist, and hands.
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Using motor current control, except for his head and hands, the
movements are much smoother.
HOAP-2 is easily connected to your personal computer.
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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 Robots
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Productivity（生產力）
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Flexibility（靈活性）
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Robots can increase productivity because of their continuous
physical effort without rest.
The robot, reprogrammable equipment, is undoubtedly one of the
best tyoes if equipment for flexible automation.
Quality of Products（產品品質）
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Robots can not only execute accurate motions repeatedly, but are
immune to the emotional states which affect human’s performance.
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Impact of Industrial Robots (Continued)
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Quality of Human Life（生活品質）
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The use if robots can free humans from doing dirty, dangerous, and
difficult jobs.
Scientific Discipline（科學訓練）
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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 Robots
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Industry
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Maintenance
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Diagnostics
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Unmanned factory
Construction of buildings or houses
Rehabilitation of patients
Security
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Assistance in hospitals for certain tasks, e.g. precision surgery
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The next great consumer product – Humanoid robot
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Robot-assisted Entertainment
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Robot-assisted Healthcare at Home
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Preprogrammed interactions, animal-like robot
Pre-hospital diagnostics or treatments (by appropriate pre-coded
programs)
Robot-assisted Education at Home
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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 intelligence
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Constituent elements
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Perception
Learning
Thinking
Action
Intelligence
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is the ability to link
perception to actions
for the purpose of
achieving an intended
outcome.
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Related topics in Robotics
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Mechanism and Kinematics, Actuation Elements and Dynamics,
Sensing Elements, Control, Information and Decision-Making,
Visual Perception.
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Limb-Eye Coordination Behavior
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Vision-guided manipulation
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Vision-guided positioning
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hand-eye coordination
head-eye coordination
Vision-guided locomotion
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leg-eye coordination
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