1 / 25

Robotics Perception and Action

Robotics Perception and Action. Prof. Mariolino De Cecco , Ing. Mattia Tavernini Department of Structural Mechanical Engineering, University of Trento Email: mariolino.dececco@ing.unitn.it http://www.mariolinodececco.altervista.org/. What is a Robot?. Robot definition.

rachelmorris
Download Presentation

Robotics Perception and Action

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Robotics Perception and Action Prof. Mariolino De Cecco, Ing. Mattia Tavernini Department of Structural Mechanical Engineering, University of Trento Email: mariolino.dececco@ing.unitn.it http://www.mariolinodececco.altervista.org/

  2. What is a Robot? Robot definition

  3. In 1921 the term ROBOT was introduced by Karel Čapek that wrote “I Robot Universali di Rossum (R.U.R.)” from the slavic term ROBOTA that means executive work (the robot ends up to rebel) • In 1940Isaac Asimov in his books conceived robots with human features but without feelings. Their brains were programmed by man according to precise rules of ethical conduct: • A robot may not injure a human being or allow, remaining idle, that a human being is in danger • A robot must obey orders given it by human beings, except where such orders would conflict with the First Law • A robot must protect its existence unless such protection should not be in conflict with the first or second law Robot definition

  4. Science fiction has influenced the imagination of people not belonging to the world of engineering which envision robots as androids able to talk and walk (some industrials still prefer anthropomorphous robots than Cartesian although less suitable for the application) Currently there is no commonly accepted definition A common robot definition is a system able to make an intelligent connection between perception and action Robot definition

  5. A robot is able to: PERCEPT PLAN ACT Robot definition

  6. Engineering involved in robotics: MECHANICS ELECTRONICS INFORMATICS Robotics definition

  7. The robot from a systemistic point of view

  8. Manipulators • Mobile vehicles • Aeorobot • Free-flying robot • Humanoids • Biomimetics Robot categories

  9. Structured environment Not structured Many sensors (also reduntant) Few sensors SENSOR FUSION DATA AGGREGATION The robot from a systemistic point of view

  10. ROBOTIC SENSORS SENSOR FUSION DATA AGGRE- GATION Perception MOBILE VEHICLES PATH PLANNING PATH CONTROL Action Introduction – TOPICS COVERED

  11. In the case of mobile robots we do not have rigid constraints to determine the position unequivocally, but wheels (generally) that determine a speed constraintKnowing the variable connected with each joint (total angle of rotation of the wheel) there is no information about the pose of the vehicle In manipulators one extreme is rigidly constrained to a base, to the other end is fixed an end effector.Knowing the variable associated with each joint (joint variable: angle for revolute, relative position for prismatic), the position and orientation (pose or posture) of the terminal are uniquely determined Holonomic and non-holonomic systems

  12. An example ? P2 P1 Where I’m going? Where I am? The vehicle arrives in a final position estimating means odometry to be P1 (with associated uncertainty expressed from the ellipse corresponding) A measuring system to the triangulation communicates that is located in P2 (with associated uncertainty expressed from the ellipse corresponding) WHERE THE ROBOT ESTIMATES TO BE? SENSOR FUSION

  13. DATA AGGREGATION

  14. In order to test million reagents to determine the most suitable mixtures to the definition of new drugs requires the intervention of automatic machines reprogrammable.In transactions by human users, you can check about 30 mixtures per day  Through the intervention of the robot the number rose to 10,000 in one dayOther advantages are:  avoids repetitive operations and then alienating for a person  it avoids the handling of hazardous reagents (eg radioactive, corrosive, etc.)  can be controlled in an automatic manner the environmental conditions (eg temperature)disadvantage:the whole system must be structured in a much more rigid than the human case (storage systems raw materials and compounds, manipulation and insertion). So the company has to bear a greater initial cost compared to a benefit in the medium to long term Applications – Robot in Pharmaceutics

  15. Applications – Robot for goods handling

  16. Robotic vehicles from fieldThe robotic vehicles are developed for both civilian and military applications that space for use in land primitive, ie without roads of any kind.The experience developed for autonomous vehicles "off-road" is used in other sectors such as agriculture, mining and operations in hazardous environments

  17. Running and JumpingIn the evolution of robotics there is a long tradition of making use of imitation of biological systems. The Japanese research laboratories have been and are very interested in the "bio-mimetic", achieving important successes.

  18. A circular soft robot that can crawl and jump

  19. Examples of industrial applications: - Transpallet - robot to change the spool Applicazioni – AGV industriali

  20. It is teleoperated systems that allow remote operations Applications – Robots for surgery

  21. Automobile Applications – Robot welding / painting

  22. International research objectives

More Related