Robotics

MEEC · MEIC · MEBiom

2010 / 2011

Course slides
© 2009 Rodrigo Ventura
 Contacts
• Pedro U. Lima (theory classes)
pal@isr.ist.utl.pt, ext. 2274

• João Sequeira (lab classes)

jseq@isr.ist.utl.pt

• João Paulo Costeira (lab classes)

jpc@isr.ist.utl.pt

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Program

(1) Introduction
(2) Robot kinematics and dynamics
(3) Sensors and actuators
(4) Motion and navigation planning
(5) Control of manipulator and mobile robots
(6) Formation control of mobile robots
(7) Software Engineering for Robotics
Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura
 Bibliography
Main

•  Introduction to Autonomous Mobile Robots, Roland

Siegwart, Illah R. Nourbakhsh, 2004, The MIT Press

•  Robotics: Modelling, Planning and Control , Bruno

Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe
Oriolo, 2008, Springer

Auxiliary

•  Introduction to Robotics: Mechanics and Control , John

Craig , 2004, Prentice Hall
•  Robot Motion Planning , J.C. Latombe, 1992, Kluwer
Academic

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Assessment
• 2 lab assignments — 70% (min grade = 9.5 per
assignment)
Groups
of 3
students
- robot manipulator kinematics (due 18 March)

- mobile robot navigation (due 13 May)

• 1 final Exam (all topics) — 30% (min grade = 9.5)

- 2 dates (7 and 27 June 2011)

- IMPORTANT: students choosing the “regular”

lab+exam way (advisable) can only hand-in one
of the exams. The others can hand-in the 2
exams (and will get the best grade).
Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura
 Why Robots?

• Reduce costs

• Increase productivity

• Increase product quality

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Why Robots?
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Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

1 million industrial robots operating in the
world at the end of 2007
Industrial robots
Estimated worldwide operational stock of
industrial robots
1.186
1.200
994
1.000 923

800 750
'000 of units

605
600
454
400

200
66
3
0
1973 1983 1990 1995 2000 2005 2007 2011*
* forecast Source: World Robotics 2008

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Industrial robots

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Service robots

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

Japan on top
Substantial growth in Germany
Industrial robots
Estimated yearly supply of industrial robots
by main countries 2006 - 2007

Japan

USA

Germany

Rep.Korea

China

Italy
2007
Canada
2006
France

Taiwan

Spain

Central/Eastern Europe

0 5.000 10.000 15.000 20.000 25.000 30.000 35.000 40.000

units
Source: World Robotics 2008

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

c/ Source: U.S. Bureau of Labor Statistics. Data for 2002 are provisional.
d/ Comprises three sub-industries which in 2003 had the following average hourly wages: motor vehicles $28.03, motor vehicles bodies & trailers
$15.89 and motor vehicle parts $20.42.
General note: The robot price indices calculated for individual countries are always based on prices of the same seven robot models supplied by four
major international robot companies with large market shares in Europe and the United States.

Industrial robots Figure 3

Price index of industrial robots for international comparison (based on
1990 $ conversion rate), with and without quality adjustment.

100
90
80
70 Robot prices, not quality adjusted
Index 1990 = 100

60
50

40
30
20 Robot prices, quality adjusted
10
0
1990 1991 1992 1993 1994 1995 1996 1997 1998 1999 2000 2001 2002 2003

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Introduction - Robots in Ancien Egipt

The stone polisher (author unknown)

c 2007, # 1
João Sequeira, Robotics, !
Greek robot (Hero, 60AD)

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Designer automaton
(Maillardet, 1810)

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Designer automaton
(Maillardet, 1810)

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Designer automaton
(Maillardet, 1810)

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Industrial manipulators

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Educational version

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Automated Guided Vehicles (AGVs)
(ISR/IST + EFACEC, 1990)

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Dante II legged robot
(NASA+CMU, 1994)

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Airbus simulator

Stewart
platform

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Humanoid robot ASIMO
(Honda, 1986-)

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Humanoid robot ASIMO
(Honda, 1986-)

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Robot World Cup
(RoboCup, 1997-)
@home league

Humanoid league
Middle size league

Rescue league

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Robot World Cup
(RoboCup, 1997-)

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

DARPA Grand Challenges

2007, Urban

2005, Off-road

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Field robot RAPOSA
(ISR/IST + IdMind, 2003-)

thermal camera
onboard sensors:
• CO
• methane
• propane and butane
• hydrogen sulphide
• temperature
• humidity

frontal cameras
+
illuminating lights 802.11b wireless link

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

Search and Rescue robots
(RAPOSA, 2003-)

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

Search and Rescue robots
aerial + land

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Humanoid robot iCub
(RobotCub project, 2004-)

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

 Humanoid robot iCub
(RobotCub project, 2004-)

Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

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Service Robots

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Figure 2: Worldwide stock at end 2002 and projected installation for 2003 to 2006; [7]

Although service robots are as diverse as the applications they are designed for, several categories of
manufacturers can be distinguished, see figure 3:

Service robots as low volume specialists: floor cleaning, sewer inspection, aircraft cleaning

Robots as household appliances for large volume markets: lawn-mover, vacuum cleaner, robot pet

Service robot systems based on conventional robot arms:Therapy, refueling, entertainment

Robotics 2010/2011
European Service — course slides — © 20093 Rodrigo Ventura
Robotics Ver: 24.04.04
 Deliverable DR.1.3
EURON
30/04/2008 (31/08/2008 for revised version)
FP6-507728

Service Robots
Revision final V.4.1 (revision of V.4 after Final Review)

Gaming robots
Robot adapting
Advances

to individual
needs Proactive robot

Window washer Understand human activities

Robot with Ironing robot

integrated
communication Robot helping
capabilities handicapped people 24h assistant

"Real" vacuum Robot loading Companion for

cleaner < 400! household devices elderly people

2005 2010 2015 2020

Figure 10: Robotics 2010/2011 — course slides — © 2009 Rodrigo Ventura

Approximate timeline for the future development of adaptive robot servants in intelligent