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    Robotics Miracles and Science Do Meet


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    1 : Robotics
    2 : What is your favorite robot? Robby – Forbidden Planet Robocop Tobor
    3 : Find some good robotics videos. Swimming fish: Robot wars: Japanese robots: Miscellaneous robots:
    4 : “A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.” (Robot Institute of America) Definition: Alternate definition: “A robot is a one-armed, blind idiot with limited memory and which cannot speak, see, or hear.” What is a robot?
    5 : What are robots good at? What is hard for humans is easy for robots. Repetitive tasks. Continuous operation. Do complicated calculations. Refer to huge data bases. What is easy for a human is hard for robots. Reasoning. Adapting to new situations. Flexible to changing requirements. Integrating multiple sensors. Resolving conflicting data. Synthesizing unrelated information. Creativity.
    6 : What tasks would you give robots? Dangerous Space exploration chemical spill cleanup disarming bombs disaster cleanup Boring and/or repetitive Welding car frames part pick and place manufacturing parts. High precision or high speed Electronics testing Surgery precision machining.
    7 : What does building robots teach us about humans? How do our sensors work? eyes brain How do we integrate sensors? How does our muscular-skeletal system work? How do we grab and hold an object? How does our brain process information? What is nature of intelligence? How do we make decisions?
    8 : What subsystems make up a robot? Action Stationary base Mobile Sensors Control Power supply Robert Stengel, Princeton Univ.
    9 : Action – do some function. Actuators pneumatic hydraulic electric solenoid Motors Analog (continuous) Stepping (discrete increments) Gears, belts, screws, levers Manipulations
    10 : Three types of robot actions. Pick and place Moves items between points. Continuous path control Moves along a programmable path Sensory Employs sensors for feedback
    11 : Simple joints (2D) Prismatic — sliding along one axis square cylinder in square tube Revolute — rotating about one axis Compound joints (3D) ball and socket = 3 revolute joints round cylinder in tube = 1 prismatic, 1 revolute Degrees of freedom = Number of independent motions 3 degrees of freedom: 2 translation, 1 rotation 6 degrees of freedom: 3 translation, 3 rotation How do robots move?
    12 : Mobility Legs Wheels Tracks Crawls Role
    13 : What sensors might robots have? Optical Laser / radar 3D Color spectrum Pressure Temperature Chemical Motion & Accelerometer Acoustic Ultrasonic
    14 : What use are sensors? Uses sensors for feedback Closed-loop robots use sensors in conjunction with actuators to gain higher accuracy – servo motors. Uses include mobile robotics, telepresence, search and rescue, pick and place with machine vision.
    15 : Control - the Brain Open loop, i.e., no feedback, deterministic Instructions Rules Closed loop, i.e., feedback Learn Adapt

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