KHWAJA NAVED

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 Definition of a Robot
 Definition of a Robot According to The Robot Institute
of America (1979) :
"A reprogrammable, multifunctional manipulator
designed to move materials, parts, tools, or
specialized devices through various programmed
motions for the performance of a variety of tasks."
 According to the Webster dictionary:
"An automatic device that performs functions
normally ascribed to humans or a machine in the form
of a human (Webster, 1993)."
 A Brief History of Robotics
 Robotics' history is tied
to so many other
technological advances
that today seem so
trivial, we don't even
think of them as robots.
 How did a remote-
controlled boat lead to
autonomous metal
puppies?
 Nikola Tesla
 Croatian-American
scientist Nikola Tesla.
 Invented many things,
including the alternating
current system.

• Remote-controlled,
submersible boat was
acting on radio signals.
 Slaves of steel

 The first person to use the

word robot was a playwright,
Czechoslovakian writer
Karel Capek first used the
word robot in his satirical
play, R.U.R. (Rossum's Cover page of the first edition
Universal Robots).
 Wartime inventions
 World War II was a big
catalyst in the development of
two important robot
components: artificial sensing
and autonomous control.
 The U.S. military created
auto-control systems for mine
detectors that would sit in
front of a tank as it crossed
enemy lines
 The Germans developed
guided robotic bombs that German robot bomb found in France
were capable of correcting
their trajectory.
 A robot in every pot
 The invention of the
transistor in 1948 increased
the rate of electronic growth
and the possibilities seemed
endless.
 The creation of silicon
microchips reinforced that
growth.
 The seven-foot robot could
smoke and play the piano.

Elecktro:The smoking robot

 Industrial-strength arms
 1961 General Motors installed
the applied telecherics system
on their assembly line. The one-
armed robot unloaded die casts,
cooled components and
delivered them to a trim press.
 In 1978 the PUMA
(Programmable Universal
Machine for Assembly) was
introduced and quickly became
the standard for commercial
telecherics.

PUMA industrial robot

Early personal robots

Hero 1

RB5X
 Surgical tools
 In 1985 Dr. Yik San Kwoh
invented the robot-software
interface used in the first
robot-aided surgery, a stereo
tactic procedure.
 The surgery involves a small
probe that travels into the
skull.
 A CT scanner is used to give
a 3D picture of the brain, so
that the robot can plot the Dr. Yik San Kwoh with surgical robot
best path to the tumor.
 Hazardous duties
 Dante II aids in the
dangerous recovery of
volcanic gases and
samples.
 These robotic arms with
wheels saved countless
lives defusing bombs
and investigating nuclear
accident sites.
Telecheric robot inspects
suspicious package
 Solar-powered insects
 Mark Tilden's BEAM robots
look and act like big bugs.
 Tilden builds simple robots
out of discrete components
and shies away from the
integrated circuits most other
robots use for intelligence.
 Started in the early 1990s,
the idea was to create
inexpensive, solar-powered
robots ideal for dangerous
missions such as landmine
detection.
 A range of rovers
 Sojourner, semi-autonomous
robot platforms to be
launched into Mars in 1996.
 The problem was, it could
only travel short distances.
 In 2004, twin robot rovers
caught the public's
imagination again, sending
back amazing images in
journeys of kilometers, not
meters.
Mars rover
 Entertaining pets
 In the late '90s there was a
return to consumer-oriented
robots.
 One of the real robotic
wonders of the late '90s was
AIBO the robotic dog, made
by Sony Corp.
 By using sensor array, AIBO
can autonomously navigate a
room and play ball.
AIBO takes a spill
Quasi 2005 – Los Angeles
 Quasi can make responses
based on guest input and can
recognize speech patterns,
track faces, detect proximity,
dispense candy and even
perform a karaoke duet.
 Softwares includes Alias
Maya, BAT and so on.

Quasi - Carnegie Mellon

University
 Classification Of Robots

ROBOTS

Coordinate system
Robot like devices: Human like robots:
based robots:
Prostheses Humanoids, Androids,
Cylindrical
Exoskeletons Actroids,
Spherical
Telecherics Geminoids,Gynoids
Cartesian
Robot like devices:
Prostheses:  The figure, showing a
prosthetic arm actuated by
artificial muscles and fit to a
human, describes the long-
term goals of this research in
which the patient will be able
to control a multi-degree of
freedom robot prosthesis that
provides force feedback
information.
Exoskeletons:
 Exoskeletons are a
skeletal framework to
be worn by a human,
specially soldiers and
construction workers.
 They are designed to
assist and protect the
wearer.
Telecherics/Telerobotics:

 Telerobotics is the
area of robotics
concerned with the
control of robots from
a distance, chiefly
using wireless
connections (like Wi-
Fi, Bluetooth) or
tethered connections.
 The figure alongside
shows a mars rover.
Robots based on coordinate system:
Practical robots based on coordinate
system:
Human like robots:
Humanoid Android
The Honda Humanoid
Different Humanoids By Honda
Geminoids:
The Uncanny Valley:
Degree of freedom:
Sense organs in robots(The sensors):

SENSORS

Proximity and range

Tactile sensors Sensor based systems
sensors
Tactile sensors:
FORCE
SENSORS

PIE-ZO
TOUCH
ELECTRIC
SENSORS
SENSORS
TACTILE
SENSORS

TACTILE
RESISTIVE
ARRAY
SENSORS
SENSORS
Proximity sensors:
OPTICAL
PROXIMITY
SENSORS

HALL
INDUCTIVE PROXIMITY
EFFECT
SENSORS SENSORS
SENSORS

CAPACITIVE
SENSORS
Evolutionary Algorithm:
 Charles Darwin first identified the process of natural
selection in his monumental work “The Origin of
Species”.
 Inspired by this natural process of ‘survival of the
fittest’, evolutionary algorithms (EAs) attempt to find
a solution to a problem using simulated evolution in a
computer.
Types of EAs:
 There are two types of EAs:
 Genetic Algo (GA): It involves manipulating a fixed-
length bit string. The bit string represents a solution
to the problem being solved; it is up to the
programmer to determine the meaning of the string.
 Genetic Programming (GP):
It involves generating expression trees as used by
languages such as LISP and SCHEME.
 With genetic programming, actual programs can
be created and then executed.
Applying EAs to Robotic Navigation
 EAs have been used to get a robot to learn how to
adapt to its limited capabilities. Using GP in this way
is termed evolutionary learning.
 In most of the EA applications, two distinct steps
occur: an initial training period is conducted by
running the EA on a training set, followed by the
execution of the best-fit solution.
 With Continuous and
Embedded Learning, the two
steps are linked and operated
concurrently while the robot is
performing its task.
 The figure shows an outline of
this approach where the key
components are:
 Learning continues indefinitely,
allowing adaptation to sensory
failure.
 Learning is done on a
simulation model.
 The simulation model is
updated to reflect changes in
the real robot or environment
 In an experiment, a robot
was given the task of
navigating to the opposite
side of a room through a
passage in a wall starting
from one wall and
heading in a random
direction from -90
degrees to 90 degrees,
with 0 pointing directly
to the opposite wall.
 With no evolution and all sensors functioning, the
robot was able to navigate successfully about 25% of
the time.
 After 50 generations of evolution, the robot's success
rate increased to about 61%.
 With three sensors on the right side of the robot
disabled after 50 generations, the success rate
dropped to about 42%, but increased over 50 more
generations to about 63%.
 The results of the experiment show that a robot
using CEL can not only learn how to improve its
navigation abilities by itself, but also re-learn how to
navigate after suffering the loss of some sensory
capability
Living on Their Own:
 Ecosystem-like settings are
interesting from an alife
perspective.
 Within ecosystems, the main goal
of a robot is self-preservation.
 Resources, especially energy, are
limited in time and space.
 Consequently, robots must
compete for them.
 Thus competition forms the basis
of all robot interactions in the
system.
Biological Inspiration:
 When trying to re-create biological phenomena, it
makes sense to look at the biological world for
some good initial pointers.
 For instance, the study of robotic locomotion is
aided by observing and imitating biological
systems such as a spider.
 A robot is limited when using wheels (very un-
biological) in rough terrains, whereas a
biologically inspired robot would have legs like
that of a spider for maneuvering around and over
obstacles
Implementation of knowledge:
 Line following robot:
 Line follower is a machine that can follow a path.
 The path can be visible like a black line on a white
surface (or vice-versa) or it can be invisible like a
magnetic field.
 Practical applications of a line follower involve
automated cars running on roads with embedded
magnets; guidance system for industrial robots
moving on shop floor etc.
Schematic Of a Line Follower:
 References:
 http://www.robotics.utexas.edu/rrg/learn_more/history/
 http://www.msnbc.com/modules/robot_history/
 http://www.thelightningguy.com/tesla.htm
 http://www.honda.co.jp/robot/movie/
 http://www.cooltoolawards.com/hardware/Humanoid.ht
m
 http://www.ed.ams.eng.osaka-
u.ac.jp/development/Humanoid/ReplieeQ2/ReplieeQ2_en
g.htm
 http://www.motionanalysis.com/applications/movement/
sports/hawksystem.html
 http://www.instructibles.com
 http://www.aibotix.com