intelligent robotic systems - engr.du. · pdf fileence 3830 : intelligent robotic systems...

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ENCE 3830 : Intelligent Robotic Systems – lecture.intro

Intelligent Robotic SystemsIntelligent Robotic Systems

Prof. Richard VoylesDepartment of Computer Engineering

University of Denver

ENCE 3830/4800


What is a Robot?What is a Robot?

WWWebsters:

� a mechanism guided by automatic controls

� a device that automatically performs complicated often repetitive tasks

� a machine that looks like a human being and performs various complex acts (as walking or talking) of a human being; also : a similar but fictional machine whose lack of capacity for human emotions is often emphasized


Is This a Robot?Is This a Robot?

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How How ‘‘ Bout Now?Bout Now?



WWWebsters:





We Can All Agree on This GuyWe Can All Agree on This Guy

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WWWebsters:





But What About This Guy?But What About This Guy?

� Automatically Performs Complex Tasks

� Repetitive Actions

� Looks Like a Human

� Has Mechanical Sensors


……And What About This Guy?And What About This Guy?

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Mind ChildrenMind Children

Hans MoravecRobot: Mere Machine to Transcendant

Mind


Mind ChildrenMind Children


Essential Ingredients of RobotsEssential Ingredients of Robots

� Perception– A Robot must be able to Sense the World

� Cognition– A Robot must be able to React to those

Sensations

� Manipulation– A Robot must be able to Affect the World

Carnegie Mellon University, Robotics Institute

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Rosie the Robot!Rosie the Robot!


Rosie the Robot??Rosie the Robot??

� RedZone Robotics� Built to Inspect

Chernobyl Nuclear Reactor Accident

� Primarily Remote Controlled


Typical Welding RobotTypical Welding Robot

From “Robotics World” Magazine

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A Truck That Drives ItselfA Truck That Drives Itself

NAVLAB� Special Transmission

(20 mph)� Laser Rangefinder� Sonar� Cameras


Bomb Disposal Mobile RobotBomb Disposal Mobile Robot

� Teleoperated� Slow� Saves Lives


Is This a Robot?Is This a Robot?

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A Truck That Drives ItselfA Truck That Drives Itself

NAVLAB� Special Transmission

(20 mph)� Laser Rangefinder� Sonar� Cameras� 4-6 Grad Students


NAVLAB 2NAVLAB 2

Artificial Neural Network Brain learned to drive up to 70 mph on smooth roads up to 90 miles without help.

� Off-road, too


NAVLAB ImprovedNAVLAB Improved

� DC to LA� 98.2% hands-off

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What Do We Know So Far???What Do We Know So Far???

� Two Basic Types of Robots– Manipulators (Arms)– Locomotors (Mobile Robots)

� Robots Embody:– Perception– Cognition– Manipulation


OK, some are bothOK, some are both……

� Commander Data?

� Mobile Manipulation


Honda Honda AsimoAsimo

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TeleoperatedTeleoperatedRobotsRobots

� Programming by Demonstration

� Drive by Wire


SarcosSarcos’’ Jurassic ParkJurassic Park


Scout Scout MicrobotMicrobot

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Scout/Ranger TeamScout/Ranger Team


Alternate Scout Form FactorAlternate Scout Form Factor

Stowed Configuration Deployed Configuration

Hemispherical side for smooth manipulation

Concave claw for traction/digging

� Both Manipulator and Locomotor


Alternate Scout PrototypeAlternate Scout Prototype

� 1st Prototype is 75 mm in Diameter (approx. 2x scale)

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TerminatorBotTerminatorBotCrawlingCrawling


Still Primarily Still Primarily TeleoperatedTeleoperated

� Think Predator drone…


GestureGesture--Based ProgrammingBased Programming

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Nomad in Nomad in AtacamaAtacamaDesertDesert

•Moon-like Terrain

•Smart Teleoperation


MITMIT ’’ s Cogs Cog

� “Infant” Robot� Learns like a baby� Plays by watching

others� Can adapt to the

slinky


MITMIT ’’ s Kismets Kismet

� Responds to human emotion with emotion

� Can Get:– Mad– Bored– Surprised– Happy– Tired

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NAVLAB NowNAVLAB Now ……autonomousautonomous


Indoor Mobile RobotsIndoor Mobile Robots

� Cluttered Environment

� Human Interaction� Hostile Behavior� Long-Term

Operation� Sensor Deprivation


CMUCMU’’ s Amblers Ambler

� Robot for walking on Mars

� 18 feet tall! (2x flight size)

� Steps over jeeps

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What Do We Know About Control?What Do We Know About Control?

� Perception, Cognition, Manipulation can support:– Teleoperation– Autonomy– Shared Control (Human-in-the-loop)


Modular ManipulatorsModular Manipulators

3 x

+

=


RobotWorldRobotWorld

� Carefully controlled, precise environment

� Many robots cooperate

� Each robot very simple and fast

� Heterogeneous capabilities (specialization)

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Cartesian vs. RevoluteCartesian vs. Revolute


Stewart Platform (parallel)Stewart Platform (parallel)

� Strong and Stiff� Simple Inverse Kinematics


Parallel Chains are Much TrickierParallel Chains are Much Trickier

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Parallel Chains are Much TrickierParallel Chains are Much Trickier


Parallel Sensing MechanismsParallel Sensing Mechanisms


� Molecular Recognition Biosensors

– MEMS-Based Microcantilever Beams

� Precision Micromotors

– Piezoelectric Micromotors

– Electromagnetic Micromotors

� Vibration Monitoring Devices

– Microcantilever Beams, Interface Electronics,

– and Telemetry

MEMS Projects: Biosensors, MEMS Projects: Biosensors, MicromotorsMicromotors, , Vibration MonitorsVibration Monitors

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GestureGesture--Based ProgrammingBased Programming

� Programming by Human Demonstration

� Programming Contact Tasks is Hard� More Natural for the Human Trainer� More Amenable to Contact Tasks� Skill-Based Approach

intelligent robotic systems - engr.du. · pdf fileence 3830 : intelligent robotic systems...

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