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

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

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

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  1. ME604 : Robotics - Lec # 2 : Overview - 04 Jan 2006 Some fascinating robots and related technologies Course outline KKI/2006/ME604/02

  2. 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

  3. 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

  4. 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

  5. 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

  6. 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

  7. 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

  8. 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

  9. 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

  10. 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

  11. 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

  12. 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

  13. 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