1 Fundamentals of Robotics Linking perception to action 1. Introduction to Robotics 南台科技大學電機工程系謝銘原.

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1 1 Fundamentals of Robotics Linking perception to action 1. Introduction to Robotics 南台科技大學電機工程系謝銘原

2 2 Introduction to Robotics Manfacturing Manfacturing Human/Artificial intelligence Human/Artificial intelligence Motion Motion

3 3 Manufacturing Manufacture Manufacture Manus – hand; factus – to make making things by hand Manufacture – to make by hand, making things by hand A manufacture process A manufacture process Labor, equipment, materials (parts, or components)

4 4 Outline of a factory in manufacturing Production and Automation System Manufacturing Support System Manufacturing Execution System Manufacturing Design System Enterprise Information and Management System

5 5 Factory Automation Process optimization Process optimization

6 6 Automation and robots The aim of automation The aim of automation To eliminate the direct involvement of labor in the process interaction. The role of labor – From direct involvement to indirect programming and/or monitoring of automated equipment. The role of machine – To domain all the automatically controls.

7 7 Mechanism v.s. Machine Mechanism – Mechanism – A set of (mechanical) elements arranged in certain configurations for the purpose of transmitting motions in a predetermined fashion. e.g. bicycle Machine – Machine – A super-set of mechanism(s), and contains elements which supply energy to drive this mechanism(s). e.g. motorcycle or car

8 8 Robot Robot Robot Robota (Czech word) – meaning forced workers In 1921, a play named “Rossum’s Universal Robots” by Karel Kapek. A scientist (Rossum) created human-like machines that revolted, killed their human masters, and took control of the world.

9 9 Definition of Industrial Robot by the Robot Institute of America by the Robot Institute of America A robot is a programmable, multi-functional manipulator designed to move material, parts or specialized devices through variable programmed motions for the performance of a variety of tasks. Engineering view – Engineering view – A robot is the embodiment of manipulative, perceptive, communicative, and cognitive abilities in an artificial body. which may or may not have a human shape. It can advantageously be deployed as a tool, to make things in various environments.

10 10 Typical examples of industrial robots Typical applications Typical applications Welding ( 焊接 ) The process of joining two work-pieces together by applying molten weld metal. Cutting ( 切削 ) The process of applying thermal or mechanical energy to cut a work piece into a specific shape. Assembly ( 裝配 ) The process of either adding components to form a single entity, or affixing components to a base unit (e.g. to place components on a printed circuit board). Material Handling ( 物料配送 ) The process of either packaging parts into a compartment (box) or loading/unloading parts to/from another station.

11 11 Definition of Humanoid Robot A humanoid robot A humanoid robot is the embodiment of manipulative, perceptive, communicative, and cognitive abilities in an artificial body similar to that of a human, which possesses skills in executing motions with a certain degree of autonomy, and can be advantageously deployed as agents to perform tasks in various environments.

12 12 PINO http://www.symbio.jst.go.jp/PINO/index.html – ZMP INC. http://www.symbio.jst.go.jp/PINO/index.html OpenPINO (PINO-class Humanoid Robot Platform) is OpenPINO (PINO-class Humanoid Robot Platform) is an attempt to create Linux-like open source development community by disclosing technical information based on PINO. Everyone can use PINO as a base of the research and development, Software is disclosed under GPL (GNU General Public License) Electric circuits and mechanical design diagrams are released under GNU Free Documentation License. (Please note that esthetic design is proprietary property, thus not a subject of open source release.)

13 13 OpenPINO platform (PHR-0001) We recognize that OpenPINO platform (PHR-0001) disclosed is a simple design, and has many room for improvement. We recognize that OpenPINO platform (PHR-0001) disclosed is a simple design, and has many room for improvement. It was only intended to be minimum platform that serve as a starting point of the collective efforts. It was only intended to be minimum platform that serve as a starting point of the collective efforts. Please remember when Linux disclosed his initial Linux kernel. It was a collective efforts of many people who are interested that contributed formation of current Linux system. OpenPINO is the first attempt in robotics that tries to evolve through open source movement. OpenPINO is the first attempt in robotics that tries to evolve through open source movement. We wish that this initiative contributes to promotion of scientific research and triggers faster growth of the industry.

14 14 TMSUK’s humanoid robot http://www.tmsuk.co.jp/english/robots.html -- TMSUK INC. http://www.tmsuk.co.jp/english/robots.html A/ TMSUK-1, 1993 a Receptionist Robot A/ TMSUK-1, 1993 a Receptionist Robot B/ TMSUK-2, 1993 a Robot with Voice Recognition and Converse Technologies B/ TMSUK-2, 1993 a Robot with Voice Recognition and Converse Technologies C/ TMSUK-3, 1998 the world’s first experiment robot controlled remotely by use of PHS network. C/ TMSUK-3, 1998 the world’s first experiment robot controlled remotely by use of PHS network. D/ TMSUK-4, 1999 a Remote-controlled Robot D/ TMSUK-4, 1999 a Remote-controlled Robot A B C D

15 15 TMSUK, 2005 R/ MUJIRO RIGURIO Outdoor security and information robot R/ MUJIRO RIGURIO Outdoor security and information robot S/ SHINPO Humanoid Two-legged Walking Robot S/ SHINPO Humanoid Two-legged Walking Robot T/ PRE-HOSPITAL CARE ROBOT A new type of life-saving robot T/ PRE-HOSPITAL CARE ROBOT A new type of life-saving robot

16 16 FUJITSU’s humanoid robot Humanoid Robot HOAP-1 Humanoid Robot HOAP-1 This robot can be used for various types of research and development, such as the development of motion control algorithms for a two-legged walking motion, other motion algorithms used with the basic simulation software, and research on human-to-robot communication interfaces. HOAP-1 is light and compact, standing 48cm tall and weighing 6kg. Since internal interface information for the robot's hardware and software are disclosed, users can freely develop programs using its open architecture.

17 17 HOAP: Humanoid for Open Architecture Platform Humanoid Robot HOAP-2 Humanoid Robot HOAP-2 Compact, light weight, and easy-to-treat, HOAP(1)-2 is a genuine humanoid robot with two arms and two legs.1 HOAP-2's gesture expression HOAP-2's gesture expression has been enhanced with moving head, waist, and hands. Using motor current control, except for his head and hands, the movements are much smoother. HOAP-2 is easily connected to your personal computer. You can use him as a human robotics research tool for studying areas, such as movement control and communications with humans.

18 18 Impact of Industrial Robots Productivity （生產力） Productivity （生產力） Robots can increase productivity because of their continuous physical effort without rest. Flexibility （靈活性） Flexibility （靈活性） The robot, reprogrammable equipment, is undoubtedly one of the best tyoes if equipment for flexible automation. Quality of Products （產品品質） Quality of Products （產品品質） Robots can not only execute accurate motions repeatedly, but are immune to the emotional states which affect human’s performance.

19 19 Impact of Industrial Robots (Continued) Quality of Human Life （生活品質） Quality of Human Life （生活品質） The use if robots can free humans from doing dirty, dangerous, and difficult jobs. Scientific Discipline （科學訓練） Scientific Discipline （科學訓練） Robotics, the study of robots, is an important subject and can be as a scientific discipline for education and research.

20 20 Impact of Humanoid Robots Industry Industry Maintenance Unmanned factory Construction of buildings or houses Diagnostics Rehabilitation of patients Security Assistance in hospitals for certain tasks, e.g. precision surgery

21 21 The next great consumer product – Humanoid robot Robot-assisted Entertainment Robot-assisted Entertainment Preprogrammed interactions, animal-like robot Robot-assisted Healthcare at Home Robot-assisted Healthcare at Home Pre-hospital diagnostics or treatments (by appropriate pre-coded programs) Robot-assisted Education at Home Robot-assisted Education at Home Private tuition with preprogrammed and selectable knowledge and skills Robot-assisted education, virtual university, life-long learning at home (for all children and adults)

22 22 Human intelligence Constituent elements Constituent elements Perception Learning Thinking Action Intelligence Intelligence is the ability to link perception to actions for the purpose of achieving an intended outcome.

23 23 Related topics in Robotics Mechanism and Kinematics, Actuation Elements and Dynamics, Sensing Elements, Control, Information and Decision-Making, Visual Perception. Mechanism and Kinematics, Actuation Elements and Dynamics, Sensing Elements, Control, Information and Decision-Making, Visual Perception.

24 24 Limb-Eye Coordination Behavior Vision-guided manipulation Vision-guided manipulation hand-eye coordination Vision-guided positioning Vision-guided positioning head-eye coordination Vision-guided locomotion Vision-guided locomotion leg-eye coordination