Robotics Perception and Action
Prof. Mariolino De Cecco, Ing. Mattia Tavernini
Department of Structural Mechanical Engineering, University of Trento
Email: [email protected]
http://www.mariolinodececco.altervista.org/
M. De Cecco - Lucidi del corso di Robotics Perception and Action
What is a Robot?
M. De Cecco - Lucidi del corso di Robotics Perception and Action
Robot definition
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 1940 Isaac 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:
1.A robot may not injure a human being or allow, remaining idle, that a human
being is in danger
2.A robot must obey orders given it by human beings, except where such
orders would conflict with the First Law
3.A robot must protect its existence unless such protection should not be in
conflict with the first or second law
M. De Cecco - Lucidi del corso di Robotics Perception and Action
Robot definition
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
M. De Cecco - Lucidi del corso di Robotics Perception and Action
Robot definition
A robot is able to:
PERCEPT
PLAN
ACT
M. De Cecco - Lucidi del corso di Robotics Perception and Action
Robot definition
Engineering involved in robotics:
MECHANICS
ELECTRONICS
INFORMATICS
M. De Cecco - Lucidi del corso di Robotics Perception and Action
Robotics definition
M. De Cecco - Lucidi del corso di Robotics Perception and Action
The robot from a systemistic point of view
• Manipulators
• Mobile vehicles
• Aeorobot
• Free-flying robot
• Humanoids
• Biomimetics
M. De Cecco - Lucidi del corso di Robotics Perception and Action
Robot categories
Structured environment
Few sensors
Not structured
Many sensors (also reduntant)
SENSOR
FUSION
DATA
AGGREGATION
M. De Cecco - Lucidi del corso di Robotics Perception and Action
The robot from a systemistic point of view
ROBOTIC
SENSORS
SENSOR
FUSION
DATA
AGGREGATION
Perception
MOBILE
PATH
VEHICLES PLANNING
Action
M. De Cecco - Lucidi del corso di Robotics Perception and Action
Introduction – TOPICS COVERED
PATH
CONTROL
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
In the case of mobile robots we do not
have rigid constraints to determine the
position unequivocally, but wheels
(generally) that determine a speed
constraint
Knowing the variable connected with
each joint (total angle of rotation of the
wheel) there is no information about the
pose of the vehicle
M. De Cecco - Lucidi del corso di Robotics Perception and Action
Holonomic and non-holonomic systems
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?
M. De Cecco - Lucidi del corso di Robotics Perception and Action
SENSOR FUSION
M. De Cecco - Lucidi del corso di Robotics Perception and Action
DATA AGGREGATION
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
day
Other 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
M. De Cecco - Lucidi del corso di Robotics Perception and Action
Applications – Robot in Pharmaceutics
M. De Cecco - Lucidi del corso di Robotics Perception and Action
Applications – Robot for goods handling
Robotic vehicles from field
The 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 "offroad" is used in other sectors such as agriculture, mining and
operations in hazardous environments
M. De Cecco - Lucidi del corso di Robotics Perception and Action
M. De Cecco - Lucidi del corso di Robotics Perception and Action
Running and Jumping
In 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 "biomimetic", achieving important successes.
M. De Cecco - Lucidi del corso di Robotics Perception and Action
M. De Cecco - Lucidi del corso di Robotics Perception and Action
A circular soft robot that can crawl and jump
M. De Cecco - Lucidi del corso di Robotics Perception and Action
Examples of industrial
applications:
- Transpallet
- robot to change the spool
M. De Cecco - Lucidi del corso di Robotics Perception and Action
Applicazioni – AGV industriali
It is teleoperated systems that allow remote
operations
M. De Cecco - Lucidi del corso di Robotics Perception and Action
Applications – Robots for surgery
M. De Cecco - Lucidi del corso di Robotics Perception and Action
Automobile
M. De Cecco - Lucidi del corso di Robotics Perception and Action
Applications – Robot welding / painting
M. De Cecco - Lucidi del corso di Robotics Perception and Action
International research objectives