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Robotics Overview

Robotics Overview. Sambit Bhattacharya Assistant Professor of Computer Science Department of Mathematics and Computer Science Fayetteville State University. What is a robot?.

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Robotics Overview

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  1. Robotics Overview Sambit Bhattacharya Assistant Professor of Computer Science Department of Mathematics and Computer Science Fayetteville State University

  2. What is a robot? • A Robot is an autonomous system which exists in the physical world, can sense its environment, and can act on it to achieve some goals • Robotics is the study of robots, which means it is study of their autonomous and purposeful sensing and acting in the physical world.

  3. Robots … • An autonomous robot acts on the basis of its own decisions, and is not controlled by humans • Teleoperated robots controlled from a distance • Exists in the physical world • Must deal with physical laws and challenges • Senses the environment • Sensors for perceiving • Hearing, seeing, smelling, touching, etc • Acts on it • Effectors for affecting/impacting the environment • Legs, arms, hands, wheels, manipulators • Achieve some goals • Not randomly act

  4. Summary - 1 • Robotics is a fast-growing field whose definition has been evolving over time, along with field itself • Robotics involves autonomy, sensing, action, and achieving goals, all in the physical world.

  5. Where does robotics come from? • Control theory is the mathematical study of the properties of automated control systems ranging from steam engines to airplanes, and much in between. • Cybernetics(Norbert Wiener, 1940s) is a study and comparison of communication and control processes in biological and artificial system, with the goal of finding common properties and principles in animals and machines

  6. Braitenberg’s vehicles connect light sensors directly with motors. By varying the connections (Excitatory or Inhibitory) and their strengths, numerous behaviors results, ranging from seeking and avoiding light, much like Grey Walter’s turtles, to what looks like social behavior, and even aggression and love.

  7. AI • Artificial intelligence (AI)was officially “born”in 1956 at a conference held at Dartmouth University, in Hanover, New Hampshire. In order for machines to have intelligence, they will need to use the following: –Internal models of the world –Search through possible solutions –Planning and reasoning to solve problems –Symbolic representation of information –Hierarchical system organization –Sequential program execution

  8. Summary - 2 • Robotics grew out of the fields of control theory, cybernetics, and AI. • The first modern robot, W. Grey Walter’s tortoise (one of them; there were several), was constructed and controlled using the principles of cybernetics. • Braitenberg’svehiclesprovided more examples and biomimeticprinciples. • Early AI influenced early AI-inspired robotics which produced Shakey, the Stanford CART, HILARE, and the CMU Rover, among others

  9. What is inside a robot? • A robot’s main components are: –A physical body, so it can exist and do work in the physical world. –Sensors, so it can sense/perceive its environment –Effectors and actuator. So it can take actions –A controller, so it can be autonomous. • Sensors are physical devices that enable a robot to perceive its physical environment in order to get information about itself and its surroundings • All of the robot’s sensors, put together, create the space of all possible sensory readings, which is called the robot’s sensory space (also called perceptual space).

  10. Effectors and actuators • Effectors enable a robot to take action, to do physical things. –Legs, wheels, wings, arms, hands, etc. • Effectors use underlying mechanisms, such as muscles and motors, which are called actuators and which do the actual work for the robot. • Effectors and actuators are used for two main activities: –Locomotion: moving round, going places • Mobile robots –Manipulation: handling objects. • Manipulator robots (robotic arms)

  11. Summary - 3 • The key components of a robot are sensors, effectors, and controllers. • Sensors provide information about the world and the robot itself. They define the sensory or perceptual space of the robot and allow it to know its state, which may be discrete, continuous, observable, partially observable, or hidden. • Effectors and actuators provide the ability to take actions. They may provide locomotion or manipulation, depending on the type of robot: mobile or manipulator. • Controllers provide autonomy, which may be partial or complete.

  12. Thank you, News flash & Demos Obama Commanding Robot Revolution, Announces Major Robotics Initiative URL: http://spectrum.ieee.org/automaton/robotics/industrial-robots/obama-announces-major-robotics-initiative

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