Me604 robotics lec 2 overview 04 jan 2006
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ME604 : Robotics - Lec # 2 : Overview - 04 Jan 2006. Some fascinating robots and related technologies Course outline. KKI/2006/ME604/02. Some Fascinating Robots and Related Technologies (from Science Daily - search “robot” 1995 to 2005). 1. The Mighty Mouse.

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ME604 : Robotics - Lec # 2 : Overview - 04 Jan 2006

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Me604 robotics lec 2 overview 04 jan 2006

ME604 : Robotics - Lec # 2 : Overview - 04 Jan 2006

Some fascinating robots and related technologies

Course outline

KKI/2006/ME604/02


Me604 robotics lec 2 overview 04 jan 2006

Some Fascinating Robots and Related Technologies

(from Science Daily - search “robot” 1995 to 2005)

1. The Mighty Mouse

Used in Sandia National Lab, US, to free a stuck radiation source. Cobalt-60 source could kill a man in 30 s.

Bomb disposal robot made by Agile Manufacturing, Waterloo, Canada

Arm on a tracked vehicle

300 Kg, 1.5 m long

Controlled by operator

KKI/2006/ME604/02


Me604 robotics lec 2 overview 04 jan 2006

Some Fascinating Robots and Related Technologies

(from Science Daily - search “robot” 1995 to 2005)

2. Spirit and Opportunity

Have been exploring Mars for two years (~15 m/day)

Articulated wheels, light and compact, withstands wide range of environmental conditions, made by JPL. Operated from earth.

KKI/2006/ME604/02


Me604 robotics lec 2 overview 04 jan 2006

Some Fascinating Robots and Related Technologies

(from Science Daily - search “robot” 1995 to 2005)

3. Stanley

Won DARPA’s Grand Challenge

132 miles of desert in about 7 hrs

2 million US $

What is the big deal?

Fully autonomous

Made by Stanford University

Only 3 other robots completed the course last year

KKI/2006/ME604/02


Me604 robotics lec 2 overview 04 jan 2006

Some Fascinating Robots and Related Technologies

(from Science Daily - search “robot” 1995 to 2005)

4. RABBIT

Walking biped

Even ran for six steps

No feet

No arms

No pushover

Developed by UMich and French Engineers

Why develop this?

KKI/2006/ME604/02


Me604 robotics lec 2 overview 04 jan 2006

Some Fascinating Robots and Related Technologies

(from Science Daily - search “robot” 1995 to 2005)

5. A Micro Robot

Turns on a dime, parks on a nickel

20 inches per min

World’s smallest robot?

¼ cubic inch

Less than an ounce

Tracks, 2 motors, 3 watch batteries

8K ROM processor

Temperature sensor

Developed at Sandia National Lab, USA

KKI/2006/ME604/02


Me604 robotics lec 2 overview 04 jan 2006

Some Fascinating Robots and Related Technologies

(from Science Daily - search “robot” 1995 to 2005)

6. Like 90 Micro Helicopter

Used for surveying flood damage after Katrina

Search and rescue

Surveillance

Up to 300 m altitude

0.25 mile radius

Operator controlled

KKI/2006/ME604/02


Me604 robotics lec 2 overview 04 jan 2006

Some Fascinating Robots and Related Technologies

(from Science Daily - search “robot” 1995 to 2005)

7. da Vinci Surgical Robot

Used for

oral and neck cancer

prostrate, heart, brain

Surgeon’s console

4 robot arms

Endo-wrist instruments

Surgeon

KKI/2006/ME604/02


Me604 robotics lec 2 overview 04 jan 2006

Some Fascinating Robots and Related Technologies

(from Science Daily - search “robot” 1995 to 2005)

8. Nano Swarms

Will eventually be miniaturized and joined together

to form "autonomous nanotechnology swarms" (ANTS)

that alter their shape to flow over rocky terrain

or to create useful structures like communications antennae and solar sails

KKI/2006/ME604/02


Me604 robotics lec 2 overview 04 jan 2006

Some Fascinating Robots and Related Technologies

(from Science Daily - search “robot” 1995 to 2005)

9. High-tech Skin

10. Vision Chip

For tactile sense for robots, especially when interacting with humans.

Currently based on infra red sensors

With image processing on the chip.

Based on the human eye retina

KKI/2006/ME604/02


Me604 robotics lec 2 overview 04 jan 2006

Some Fascinating Robots and Related Technologies

(from Science Daily - search “robot” 1995 to 2005)

11. Electroactive Polymer Muscles

Arm wrestling competition

Three muscles participated against a 17 year old girl – one at a time

“Better luck next time”

KKI/2006/ME604/02


Me604 robotics lec 2 overview 04 jan 2006

Some Fascinating Robots and Related Technologies

(from Science Daily - search “robot” 1995 to 2005)

12. Telepathy – Putting Brain in the Loop

1. Implanted an array of microelectrodes into the frontal and parietal lobes of the brains of two female rhesus macaque monkeys.

2. Recorded and analyzed the output signals from the monkeys' brains as the animals were taught to use a joystick to both position a cursor over a target on a video screen and to grasp the joystick with a specified force.

3. After the animals' initial training, incorporated into the cursor’s movement, the dynamics of a robot arm functioning in another room

4. The scientists next removed the joystick, after which the monkeys continued to move their arms in mid-air to manipulate and "grab" the cursor, thus controlling the robot arm. However, after a few days, the monkeys realized that they did not need to move their own arms. Their arm muscles went completely quiet, they kept the arm at their side, and they controlled the robot using only their brain and visual feedback.

KKI/2006/ME604/02


Me604 robotics lec 2 overview 04 jan 2006

Course Outline

Overview of robotics (2L)

Manipulator mechanisms (2L)

Mobility on ground (2L)

Actuators (2L)

Sensors (3L)

Master slave manipulators (1L)

Robot cell (1L)

Standard motions (2L)

Kinematics of manipulators (6L)

Lower level control of robots (5L)

Vision (2L)

Vision servoing (1L)

Path planning and obstacle avoidance (4L)

Localization and mapping (4L)

Walking robots (2L)

KKI/2006/ME604/02


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