![Page 1: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/1.jpg)
INTRODUCTION
Compliant Robotics-Humanoids to soft robots
Centre for Robotics Research – School of Natural and Mathematical Sciences – King’s College London
Hongbin Liu
![Page 2: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/2.jpg)
Compliant Robotics Peking University, Globex, July 20182
Definition of Robot
“A robot is usually an electromechanical machine
that is guided by a computer program or electronic
circuitry. Robots can be autonomous or semi-
autonomous”
A Czech writer Karel Čapek
first user of the term 'robot'
![Page 3: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/3.jpg)
Compliant Robotics Peking University, Globex, July 20183
History of pre-modern “robots”
1495 Da Vinci
1709 Vaucanson
1820s Turk
![Page 4: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/4.jpg)
Compliant Robotics Peking University, Globex, July 20184
History of Industrial robots (1950 - today)
1950s (Iron hand)
1969: the first industrial spray painting robot ABB
![Page 5: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/5.jpg)
Compliant Robotics Peking University, Globex, July 20185
History of Industrial robots (1950 - today)
![Page 6: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/6.jpg)
Compliant Robotics Peking University, Globex, July 20186
History of Industrial robots (1950 - today)
![Page 7: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/7.jpg)
Compliant Robotics Peking University, Globex, July 20187
Robots-Beyond the fence – Factory
![Page 8: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/8.jpg)
Compliant Robotics Peking University, Globex, July 20188
Robots-Beyond the fence- Manipulators
• Share the space with human
• Safely interact with human
• Active compliant control
![Page 9: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/9.jpg)
Compliant Robotics Peking University, Globex, July 20189
Robots-Beyond the fence –Humanoids
• Share the space with human
• Safely interact with human
• Adapt to uncertain environment
![Page 10: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/10.jpg)
Compliant Robotics Peking University, Globex, July 201810
Robots-Beyond the fence –Flexible/Soft Robots
• Safely interact with human
• Navigate unreachable spaces
• Adapt to uncertain environment
![Page 11: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/11.jpg)
Compliant Robotics Peking University, Globex, July 201811
A Brief History of Soft Robots
![Page 12: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/12.jpg)
Compliant Robotics Peking University, Globex, July 201812
Robots-Beyond the fence –Flexible/Soft Robots
Flex-system
OCRobotics, UK, Inspection
![Page 13: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/13.jpg)
Compliant Robotics Peking University, Globex, July 201813
1990 2010
Soft Robots 2010: the beginning of growth
![Page 14: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/14.jpg)
Compliant Robotics Peking University, Globex, July 201814
Soft Robots 2010
![Page 15: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/15.jpg)
Compliant Robotics Peking University, Globex, July 201815
Soft Robots 2010
Festo – Gemany, Bionic Handling Assistant
![Page 16: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/16.jpg)
Compliant Robotics Peking University, Globex, July 201816
Soft Robots 2010
![Page 17: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/17.jpg)
Compliant Robotics Peking University, Globex, July 201817
Robotic Octopus -2010
![Page 18: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/18.jpg)
Compliant Robotics Peking University, Globex, July 201818
Soft Robots in Medicine - 2012
King’s College London, 2012
Harvard University
2017
2013
![Page 19: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/19.jpg)
Compliant Robotics Peking University, Globex, July 201819
Octopus inspired Soft Robots for surgery
![Page 20: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/20.jpg)
Compliant Robotics Peking University, Globex, July 201820
Octopus inspired Soft Robots for surgery
![Page 21: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/21.jpg)
Compliant Robotics Peking University, Globex, July 201821
Soft Robots hand
Passive compliance to increase adaptiveness
Pisa
Harvard
![Page 22: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/22.jpg)
Compliant Robotics Peking University, Globex, July 201822
Soft worm robots
![Page 23: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/23.jpg)
Koichi Suzumori
![Page 24: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/24.jpg)
Compliant Robotics Peking University, Globex, July 201824
Robots-Beyond the fence –Compliant walking
![Page 25: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/25.jpg)
Compliant Robotics Peking University, Globex, July 201825
Robots-Beyond the fence –Soft worm robots
![Page 26: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/26.jpg)
Compliant Robotics Peking University, Globex, July 201826
Compliance in the new generation of robots
• Robotic manipulators
– Rigid links, compliance obtained from motor control
• Humanoid
– Rigid links and compliant joints
• Flexible Robot
– Multiple rigid links and compliant joints
• Soft robots
– Elastic material body structure
What can we see from the overview
![Page 27: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/27.jpg)
Compliant Robotics Peking University, Globex, July 201827
What can we see from the overview
Compliance
Passive compliance: Soft/flexible structure
Active compliance: Control
![Page 28: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/28.jpg)
Compliant Robotics Peking University, Globex, July 201828
Future Robots
• Interact with human
• Adaptive to environment and disturbance
• Better sense of the surroundings
What can we see from the overview
Key Enabler
Creating robot with compliance to increase adaptiveness,
flexibility and safety
![Page 29: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/29.jpg)
Compliant Robotics Peking University, Globex, July 201829
Course overview
![Page 30: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/30.jpg)
Compliant Robotics Peking University, Globex, July 201830
How to make a physical robot work ?
Robot Sensing/Actuation
Self-awareness
Inter-action control
Robot Intelligence
![Page 31: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/31.jpg)
Compliant Robotics Peking University, Globex, July 201831
Course coverage
Robot Sensing/Actuation Sensor for flexible structures Soft sensors and actuators
Self-awareness Modelling of the robot (Kinematics/Compliance)
Inter-action control Position control Force/compliance control
Robot Intelligence Path planning How to handle uncertainty
![Page 32: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/32.jpg)
Compliant Robotics Peking University, Globex, July 201832
Sensors and Actuators
Encoder actuation/sensing for compliant structure
Motor
![Page 33: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/33.jpg)
Compliant Robotics Peking University, Globex, July 201833
Modelling of the robot
Linear Algebra Essentials
Forward Kinematics of Rigid Links
Kinematics of Continuum robots
Stiffness analysis
![Page 34: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/34.jpg)
Compliant Robotics Peking University, Globex, July 201834
Inverse Kinematics- Position Control
Inverse Kinematics
Analytical Jacobian
Singularity
Redundancy
![Page 35: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/35.jpg)
Compliant Robotics Peking University, Globex, July 201835
• Feedback force control
• Compliance control
• Passive and Active compliance together
Force and Compliant Control
![Page 36: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/36.jpg)
Compliant Robotics Peking University, Globex, July 201836
• Potential Field planning
– three-link robot arm
– continuum robot arm
Path planning
![Page 37: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/37.jpg)
Compliant Robotics Peking University, Globex, July 201837
• Gaussian model
• Kalman Filter
• Bayesian Filter
Handle uncertainties
![Page 38: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/38.jpg)
Compliant Robotics Peking University, Globex, July 201838
• PDF version of lecture slides will be available
• Globex students only, not for distribution
Teaching slides
![Page 39: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/39.jpg)
Compliant Robotics Peking University, Globex, July 201839
• Sebastian Thrun, Wolfram Burgard, Dieter Fox, ProbabilisticRobotics, The MIT Press, 2005.
• Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo, Robotics: Modelling, Planning and Control, Springer-Verlag London, 2009.
References
![Page 40: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/40.jpg)
Compliant Robotics Peking University, Globex, July 201840
Assessment
• In class coding practice (unmarked)
• 2 Individual Projects @ 15% each, 30%
• 1 Final Teamwork Project (Team Presentation) 30%
• Final Exam 40%
![Page 41: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/41.jpg)
Compliant Robotics Peking University, Globex, July 201841
Projects-Matlab for programming
Matlab (highly recommend)
Syntax, operators, commends, loop, variables
http://www.tutorialspoint.com/matlab
Matlab matrix
http://www.tutorialspoint.com/matlab/matlab_matrics.htm
Matlab vector
http://www.tutorialspoint.com/matlab/matlab_vectors.htm
GUN Octave
if Matlab is not available
Most of Matlab code can run in Octave
\http://www.gnu.org/software/octave/
![Page 42: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/42.jpg)
Compliant Robotics Peking University, Globex, July 201842
Projects-Matlab for programming
Project 1- 15%
Week 1 Release on Thursday, Friday tutorial,
Submission on Monday next week by 5pm
Create the forward kinematics model for a 2D two-segment flexible arm based
on constant curvature model.
Project 2- 15%
Week 2 Release on Thursday, Friday tutorial,
Submission on Monday next week
Position control of a 2D three-link manipulator, kinematics with redundancy
Submit your code by emailing to @pku.edu.cn
TA:
![Page 43: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/43.jpg)
Compliant Robotics Peking University, Globex, July 201843
• Final project- flexible manipulator, compliant control, path planning
• Announce at Monday of Week 3 – Presentation on Friday 30%
– Each group 3-4 students, presentation 10 minutes each group –strict time restriction.
– Evaluation: soundness of technical content, team work synergy, presentation structure, clearness.
– Each group member has distinctive and complementary task(s)
Group Project
![Page 44: INTRODUCTION Compliant Robotics-Humanoids to soft robotsglobex.coe.pku.edu.cn/file/upload/201807/02/2144324118.pdf · A Brief History of Soft Robots Compliant Robotics Pe12 king University,](https://reader034.vdocuments.us/reader034/viewer/2022042915/5f52f3501e209d7cf4499f63/html5/thumbnails/44.jpg)
Compliant Robotics Peking University, Globex, July 201844
• Final Exam 40%
• content will closely follow the lecture slides
Final Exam