robotics
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Robotics
A Topaz Team Presentation.
By S.SathyaNarayanan
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AgentAgent
environmentagent
?
sensors
effectors
Robots Physical sensors and effectors
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Sensors
Sensors that tell the robot position/change of joints: odometers, speedometers, etc.Force sensing. Enables compliant motion--robot just maintains contact with objectSonar. Send out sound waves and measure how long it takes for it to be reflected back. Good for obstacle avoidance.Vision systems
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Effectors
Converts software commands into physical motionTypically electrical motors or hydraulic/pneumatic cylindersTwo main types of effectors: locomotion manipulation
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Locomotion
Legs! traditional (video: honda human) Other types
Statically stable locomotion: can pause at any stage during its gate without falling
Dynamically stable locomotion: stable only as long as it keeps moving (video: hopper)
Still, wheeled or tread locomotion like Shakey is still most practical for typical environmentsOther methods: reconfigurable robots, fish robots, snake-like robots. (video: mod-robot)
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Manipulation
Manipulation of objectsTypical manipulators allow for: Prismatic motion (linear movement) Rotary motion (around a fixed hub)
Robot hands go from complex anthromorphic models to simpler ones that are just graspers (video: manipulation) (video: heart surgery)
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Problems in Robotics
Localization and MappingMotion planning
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