Capstone Design --- Robotics
Historical Development of Robotics
John (Jizhong) Xiao
Department of Electrical Engineering
City College of New York
jxiao@ccny.cuny.edu
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Outline
What is a Robot?
Why use Robots?
Robot History
Robot Applications
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What is a robot?
• Definition: (no precise definition yet)
– Webster’s Dictionary
• An automatic device that performs functions
ordinarily ascribed to human beings washing
machine = robot?
– Robotics Institute of American
• A robot (industrial robot) is a reprogrammable,
multifunctional manipulator designed to move
materials, parts, tools, or specialized devices,
through variable programmed motions for the
performance of a variety of tasks.
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What is a robot?
• Hollywood’s
imagination
3PO
R2-D2
Star Wars
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What is a robot?
• By general agreement, a robot is:
A programmable machine that imitates the actions or
appearance of an intelligent creature–usually a human.
• To qualify as a robot, a machine must be able to:
1) Sensing and perception: get information from its surroundings
2) Carry out different tasks: Locomotion or manipulation, do
something physical–such as move or manipulate objects
3) Re-programmable: can do different things
4) Function autonomously and/or interact with human beings
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Types of Robots
• Robot Manipulators
• Mobile Manipulators
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Types of Robots
• Locomotion
Aerial Robots
Wheeled mobile robots
Legged robots
Humanoid
Underwater robots
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Mobile Robot Examples
Hilare II
Sojourner Rover
http://www.laas.fr/~matthieu/robots/
NASA and JPL, Mars exploration
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Autonomous Robot Examples
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Why Use Robots?
• Application in 4D environments
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Dangerous
Dirty
Dull
Difficult
• 4A tasks
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Automation
Augmentation
Assistance
Autonomous
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Pre-History of Robots
• Automata: a machine or control mechanism
designed to follow automatically a
predetermined sequence of operations or
respond to encoded instructions
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Automata
• Europe
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Automata
• Asia
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Robot History
• 1961
– George C. Devol obtains the first U.S. robot patent, No.
2,998,237.
– Joe Engelberger formed Unimation and was the first to
market robots
– First production version Unimate industrial robot is installed in a
die-casting machine
• 1962
– Unimation, Inc. was formed, (Unimation stood for "Universal
Automation")
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Robot History
• The patent and industrial robot
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Robot History
• What an industrial robot must have?
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–
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• 1968
– Unimation takes its first multi-robot order from
General Motors.
• 1966-1972
– "Shakey," the first intelligent mobile robot system
was built at Stanford Research Institute, California.
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Robot History
• Shakey (Stanford Research
Institute)
– the first mobile robot to be
operated using AI
techniques
• Simple tasks to solve:
– To recognize an object
using vision
– Find its way to the object
– Perform some action on the
object (for example, to push
it over)
http://www.frc.ri.cmu.edu/~hpm/book98/fig.ch2/p027.html
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Shakey
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Robot History
• 1969
– Robot vision, for mobile robot guidance, is
demonstrated at the Stanford Research
Institute.
– Unimate robots assemble Chevrolet Vega
automobile bodies for General Motors.
• 1970
– General Motors becomes the first company to
use machine vision in an industrial application
The Consight system is installed at a foundry
in St. Catherines, Ontario, Canada.
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The Stanford Cart
Hans Moravec
• 1973-1979
http://www.frc.ri.cmu.edu/users/hpm/
– Stanford Cart
– Equipped with stereo
vision.
– Take pictures from
several different
angles
– The computer gauged
the distance between
the cart and obstacles
in its path
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The Stanford Cart
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Robot History
• 1978
– The first PUMA (Programmable Universal Machine for
Assembly) robot is developed by Unimation for
General Motors.
• 1981
– IBM enters the robotics field with its 7535 and 7565
Manufacturing Systems.
• 1983
– Westinghouse Electric Corporation bought Unimation,
Inc., which became part of its factory automation
enterprise. Westinghouse later sold Unimation to
Staubli of Switzerland.
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Industrial Robot --- PUMA
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Installed Industrial Robots
Japan take the lead, why?
 Shortage of labor, high labor cost
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How are they used?
• Industrial robots
– 70% welding and painting
– 20% pick and place
– 10% others
• Research focus on
– Manipulator control
– End-effector design
• Compliance device
• Dexterity robot hand
– Visual and force feedback
– Flexible automation
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Robot Arm Dexterity
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Robotics: a much bigger industry
• Robot Manipulators
– Assembly, automation
• Field robots
– Military applications
– Space exploration
• Service robots
– Cleaning robots
– Medical robots
• Entertainment robots
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Field Robots
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Field Robots
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Service robots
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Service Robot Example
iRobot Inc
Roomba video presenting ……
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The early stage of AI
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The start of AI
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Autonomous and Intelligence
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The Honda Humanoid (1997)
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Humanoid
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Robot Applications
• Manufacture Industry
– Assembling
– Automation
• Biotechnology
– Micro/Nano manipulation
– Sample Handling
– Automated Analysis
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Robot Applications
• Military Applications
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Military Applications
• DARPA Programs:
(Defense Advanced Research Projects Agency)
Tactical Mobile Robotics
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Robot Applications
• Fire Fighting, Search and Rescue
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Robot Applications
• Space Robotics:
Mars Exploration Rovers: Spirit and
Opportunity --- twin robot geologists,
NASA/DARPA Robonaut project: a humanoid
robot that can function as an astronaut
landed on Mars: Jan 3, and Jan 24,
equivalent for spacewalks. Human operators
2004, and still alive, on Aug. 31!
on earth can control the robot’s movements
Website:
from distance. Website:
http://vesuvius.jsc.nasa.gov/er_er/html/robona http://marsrovers.jpl.nasa.gov/overview
/
ut/robonaut.html
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Robot Applications
• Robots for Assistive Technology
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Robot Applications
• Entertainment Industry
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Robot Applications
• Entertainment Robots
Sony-Qrio
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Personal Robot?
http://www.personalrobots.com
• Just as the personal computer is used for automated
information management even in households, robots can be
used to execute domestic tasks.
• Manipulation of bits of information (PC)
• Manipulation of physical objects (PR)
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Previous Projects
Video Presenting ……
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Architecture of Robotic Systems
•
Mechanical Structure
– Kinematics model
– Dynamics model
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Actuators: Electrical, Hydraulic, Pneumatic, Artificial Muscle
Computation and controllers
Sensors
Communications
User interface
Power conversion unit
Environmental
sensors
Motion
planner
Controller
Mechanical
Structure
Configuration
sensor
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Summary
• Robotics--interdisciplinary research
– Mechanical design
– Computer science and engineering
– Electrical engineering
– Cognitive psychology, perception and neuroscience
• Research open problems
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Manipulation, Locomotion
Control, Navigation
Human-Robot Interaction
Learning & Adaptation (AI)
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Thank you, enjoy the design!
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