DCC - PUC. IIC-3684 Mobile Robotics. Mobile Robots IIC Robots History. Professor : Alvaro Soto. Alvaro Soto Ch. 2.

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1 Mobile Robots IIC-3684 Robots History Professor : Alvaro Soto

2 The Movies View

3 Robots in the books In 1921 Czechoslovakian playwright Karel Capek creates the play R.U.R.: Rossum's Universal Robots Czech robota, which means tedious labor

4 Robots in the books Asimov 3 laws of Robotics (Runaround 1942) 1. A robot may not injure a human, or, through inaction, allow a human being to come to harm. 2. A robot must obey the orders it by human beings except where such orders would conflict with the First Law. 3. A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. 0. Later he also added the zeroth law

5 What are the real robots today? Are human-like with human capabilities? The unconditional servants? Maybe the rebel machines? The highly smart but lack of feeling improved humans? Just trash-can type of machines? Let see the real story

6 Grandfather and father of Robotics George Devol design the first programmable robot, Universal Automation (1954) "The present invention makes available for the first time a more or less general purpose machine that has universal application to a vast diversity of applications where cyclic control is desired." George Devol and Joseph Engelberger start Unimation, the first Robotics company (1956) Unimation starts the era of industrial manipulators or until now known as Industrial Robots but they are just mechanical arms The era of the close loop approach and electrical engineers

7 Hits in the history on Industrial Arms 1961 General motors get first industrial arm 1967 Japan imports the Versatran robot from AMF 1968 Kawasaki licenses hydraulic robot design from Unimation Cincinnati Milacron releases the T Victor Scheinman funded Vicarm Inc Using technology from Vicarm, Unimation develops the PUMA 1983 Adept Technology is founded 80s The robot industry starts its rapid growth, with a new robot or company entering the market every month

8 Industrial Arms Today Japan big player Kawasaki Robotics, Hitachi, Mitsubishi Europe ABB and Kuka Roboter USA Adept Technology and CRS Robotics Main applications: welding, painting, assembling and packaging manufactured goods, loading and unloading machines, dispensing adhesives, amongst others Year 2000, an industry of US$5.6b with units sold

9 Example: ASEA IRB L6/2 Description Industrial Robot Five axis Payload of 13 lbs Repeatability +.2mm Horizontal reach 1229mm Used for Part handling Tool manipulation Assembly

10 Industrial Arms Lessons Fixed or limited mobility Operates in structured environment Limited perception Relatively simple control program A big, mature, and well established industry Are they robots?

11 Mobile Robots Gray Walter s Tortoise (1953 Even organisms with extremely simple nervous systems could show complex and unexpected behavior The turtle Steering motor on front wheel and driving on rear wheels Two vacuum tubes for control One photocell One bump sensor

12 Gray Walter s Tortoise Light-seeking robot Behaviors Go toward weak light Go away from strong light Recharge batteries

13 Beast (1960, JHU) Controlled by dozens of transistors Wall following behavior, using arm and sonar When battery ran low, it search for outlets using photocell optics It has a specially designed recharging arm

14 Shakey ( , SRI) First AI robot Leave in a world of blocks All Processing is off-board Model based Uses Strips

15 Stanford Car ( , Stanford) Controlled by an off-board computer It uses multiple views to estimate depth It takes 15 minutes to analyze each view point

16 Stanford Car

17 Bad News for R2D2 Mobile robots are just lab curiosities Unable to operate in real time even in simple block worlds Lack of computer power, lack of suitable batteries and sensor, lack of mostly everything Sentence: not more mobile robots from 70s to Mid 80s

18 Good News From Robot by Hans Moravec

19 MIT Behavior based control Genghis

20 CMU 3D Robotics Institute 1985 Dirty, Dull, and Dangerous

21 Japanese Humanoids

22 Where are we on 2005? Autonomy High Medium Low Some where in Here High Medium Low Constraint on Environment

23 New Domains for Robots Today big challenge is to provide robots with good perceptual capabilities

24 Home care

25 Lawn care

26 Security and Surveillance

27 Research Platforms

28 Entertainment

29 Toys

30 Marketing/Hospitality

31 Exploration

32 Humanoids

33 Elder Assistant

34 Military Robotics

35 Market Size

36 What is ahead! Robots Are Raising

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