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Introduction to ROBOTICS

Copyright 2005. Howie Choset. All Rights Reserved

Are robots a good?
• 322 BC – Aristotle, a Greek philosopher, wrote “If every tool, when ordered, or even of its own accord, could do the work that befits it... then there would be no need either of apprentices for the master workers or of slaves for the lords.”

Copyright 2005. Howie Choset. All Rights Reserved

robot: (noun) … Insert image here Copyright 2005. Howie Choset. All Rights Reserved ? What is a robot? .

Ryan Dejonckheere. Al . Sean Piper. Renata Melamud.” She accompanied Descartes on a voyage and was thrown overboard by the captain. Howie Choset. All Rights Reserved Costa. Descartes builds a female automaton which he calls “Ma fille Francine. Howie Choset. Saint Thomas Aquinas smashed the attendants to bits and called the bishop a sorcerer. Leonardo DaVinci designed a mechanical device that looked like an armored knight. Upon seeing this. All Rights Reserved Copyright 2001. which moved in human-like motions. Vincent Lee Shue. 1640 1640 Copyright 2005.The Origins of Robots ~1250 Bishop Albertus Magnus holds banquet at which guests were served by metal attendants. who thought she was the work of Satan.

Whereabouts of the duck are unknown today. The duck could quack. All Rights Reserved Costa. Al 1770 1801 1805 . Vincent Lee Shue. Howie Choset. Howie Choset. Doll. that wrote in either French or English and could draw landscapes. and one could draw pictures. Sean Piper. eat grain. Renata Melamud. bathe. Swiss clock makers and inventors Pierre JaquetDroz and his son Henri-Louis created three doll automata: one could write. one could play music. Copyright 2005. made by Maillardet.1738 Jacques de Vaucanson builds a mechanical duck made of more that 4. and a flute and drummer. drink water. Ryan Dejonckheere.000 parts. Joseph Jacquard built an automated loom controlled by punch cards. He also built a flute. All Rights Reserved Copyright 2001. digest it and void it.

U. Vincent Lee Shue.1898 Nikola Tesla built and demonstrated a remote controlled robot boat at Madison Square Garden*. Al . forced labor. which means “servitude. All Rights Reserved Copyright 2001.R).” 1923 1940 Sparko. Howie Choset. Howie Choset. Robot “might come” from the Czech word robota. Ryan Dejonckheere. * This was MSG II on 26th and Madison Copyright 2005. Renata Melamud. the Westinghouse dog. Sean Piper. All Rights Reserved Costa. uses both mechanical and electrical components. Karel Capek coins the term robot in his play Rossum’s Universal Robots (R.

All Rights Reserved Costa.1950’s -1960’s Computer technology advances and control machinery is developed. Renata Melamud. Sean Piper. Vincent Lee Shue. Al . is introduced Industrial Robots created. Copyright 2005. Robotic Industries Association states that an “industrial robot is a re-programmable. Howie Choset. Ryan Dejonckheere. the Unimate. multifunctional manipulator designed to move materials. Questions Arise: Is the computer an immobile robot? 1962. Howie Choset. tools. All Rights Reserved Copyright 2001. parts. first industrial arm. or specialized devices through variable programmed motions to perform a variety of tasks.

Shakey was controlled by a computer in a different room. It contained a television camera. Nat Rochester. All Rights Reserved . Howie Choset.’ 1960 Shakey is made at Stanford Research Institute International. The idea is to study the types of intelligent actions these robots are capable of. and touch sensors.1956 Researchers aim to combine “perceptual and problemsolving capabilities. cameras. This was the first use of the term ‘artificial intelligence. Machines in Man’s Image ” © 1985 Copyright 2005. and Claude Shannon organized ‘The Dartmouth Summer Research Project on Artificial Intelligence’ at Dartmouth College. on-board logic. Marvin Minsky.” using computers. Information and pictures from the previous five slides can be found in Isaac Asimov’s and Karen A. range finder. Frenkel’s book “Robots.I. John McCarthy. bump sensors. camera control unit. A new discipline is born: A. and an antenna for a radio link.

a mechanical engineering student in the Stanford Artificial Intelligence Lab. 1970 – Stanford University produced the Stanford Cart. or learning through doing. Howie Choset.” where he advocated constructionism. who added a more robust vision system allowing greater autonomy. this became the first of many great Hirose robots 1974 – Victor Scheinman formed his own company and started marketing the Silver Arm. Copyright 2005. 1972 – Shigeo Hirose built the first snake robot. created the Stanford Arm. ELIZA functioned as a computer psychologist that manipulated its users statements to form questions. and Powerful Ideas. The arm’s design became a standard and is still influencing the design of robot arms today. Computers. It is designed to be a line follower but can also be controlled from a computer via radio link. 1969 – Victor Scheinman. 1980 – Seymour Papert published “Mindstorms: Children. These were some of the first experiments with 3D environment mapping. which was capable of assembling small parts together using touch sensors – this leads to Adept Robots forming 1977 – Deep space explorers Voyagers 1 and 2 were launched from the Kennedy Space Flight Center. the first to have motors . 1979 – The Robotics Institute at Carnegie Mellon University was established. 1979 – The Stanford Cart was rebuilt by Hans Moravec.Timeline • • • • • • • • • • 1966 – Joseph Weizenbaum created an artificial intelligence program named ELIZA at MIT. All Rights Reserved 1981 – Takeo Kanade built the direct drive arm.

Fill out paper • • • • • • • • Name Email Major Acting Major Enrolled/Waitlist Favorite robot movie Why are you taking this class Draw a robot Copyright 2005. All Rights Reserved . Howie Choset.

ROBOTICS With Your Host: Prof. Howie Choset. All Rights Reserved . Howie Choset Copyright 2005.

Howie Choset..The Categories Are…. Computer Science Electrical Mechanical Engineering Engineering Motion Planning Perception Sensors Control Mechanisms Mechanics Copyright 2005. All Rights Reserved .

Howie Choset.Combining these fields we can create a system that can SENSE PLAN ACT Copyright 2005. All Rights Reserved .

Howie Choset.Combining these fields we can create a system that can Mechanical Engineering Electrical Engineering Computer Science Copyright 2005. All Rights Reserved .

All Rights Reserved .So What IS a Robot? Copyright 2005. Howie Choset.

All Rights Reserved . Copyright 2005. Howie Choset.There is no widely accepted definition of what a robot is.

Vision Artificial Intelligence Motion Planning Sensors and Sensor Planning Mobile Robot Platforms Forward Kinematics Inverse Kinematics Non-Holonomic constraints Copyright 2005. All Rights Reserved . Howie Choset.This semester we will study many aspects of robotics.

All Rights Reserved . Howie Choset.High Workload • • • • • • • • • Lots of homework First HW assignment handed out today Second HW assignment handed out Tues Work responsibly Time consuming design experience Lots of work assigned around Carnival times Another design experience Programming Exams Copyright 2005.

your printer or dog eating your HW is not an excuse… • Demos start on-time (early). both sides. your responsibility to make it work (memory stick. except HW 1 and 2 • Exams: 8.5 x 11 sheet of paper. if you get all the HW’s in at the end of semester. Howie Choset. in your hand • Cannot take this class if it overlaps with another • Miscommunications must be cleared up before demo day Copyright 2005. All Rights Reserved .Some strict rules • Attendance not mandatory. etc) • Absence from a demo receives a zero • Lowest HW grade dropped. punctuality is • No late HW assignments accepted.

Undergraduate Robotics Minor at Carnegie Mellon: http://www.ri. All Rights Reserved Two of the following courses: 15-381 Artificial Intelligence: Representation and Problem solving 15-385 Computer Vision 15-462 Computer Graphics I 15-463 Computer Graphics II 15-681 Machine Learning 15-881/15-499 Introduction to Geometry 16-362/16-862 Introduction to Mobile Robot Programming 16-721 Advanced Perception 16-879/18-879/24-700 Mechatronic Design 24-384 Special Topics in Design: Computational Geometry 24-700/16-735 Robotic Sensor Based Motion Planning 24-779 Human Systems and Control 60-422 Advanced ETB: Robotic Art Studio 85-213 Information Processing and Artificial Intelligence 85-370 Perception One Independent study course An upper level RI course . Mechanisms One of the following courses: 15-384/18-384 Manipulation 24-353 Intermediate Dynamics ???? 24-355 Kinematics and Dynamics of Mechanisms ?????? Copyright 2005. Howie Electives (this list is getting bigger) Overview 16-311 Introduction to Robotics Controls One of the following courses: 06-205 Chemical Engineering Process Control 18-370 Fundamentals of Control 24-451 Feedback Control Systems 16-299Introduction to Feedback Control Systems Manipulation. Dynamics.cmu.

Howie Choset.Meet the TA’s Copyright 2005. All Rights Reserved .

All Rights Reserved .Waitlist people • Motivated students usually get in Copyright 2005. Howie Choset.

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