Emo Todorov Applied Mathematics Computer...
Transcript of Emo Todorov Applied Mathematics Computer...
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Robotics
Emo Todorov
Applied MathematicsComputer Science and Engineering
Vikash Kumar Igor Mordatch
TAs:
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Administrative
No textbook.
Lecture slides and readings will be posted online:http://homes.cs.washington.edu/~todorov/courses/cseP590
No fixed office hours.
Grading will be based on three homeworks.
Catalyst forum (preferred): ???
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Ideas about robots
Leonardo da Vinci, 1495
Karel Chapek, 1921
Iscaac Asimov, 1950Ulf Hoffmann, 2014
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What can be done today
Industrial robots
Entertainment robots
Dynamic walking robots
Flying robots
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Applications of robotics: Pictorial survey
The rest of the slides in this lecture are from:
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Robots !!
Waseda WAM-8 (1984)
Comau H4 (1995)
Spirit Rover (2002)
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Evolution toward industrial robots
! with respect to the ancestors ! flexibility of use ! adaptability to a priori unknown conditions ! accuracy in positioning ! repeatability of operation
computer numerically controlled
machines (CNC)
mechanical telemanipulators
1950
robot manipulators
1970 Unimation PUMA
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The first industrial robot
G. Devol and J. Engelberger (Unimation)
US Patent General Motor plant, 1961
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Robot manipulators
ASEA IRB-6 (1973)
first robot all-electric-drives
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Hirata AR-300 (1978)
first SCARA robot
Cincinnati Milacron T3
(1974) first micro- computer controlled
robot
Unimation PUMA 560
(1979) 6R with
human-like dexterity
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World Robotics 2013
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! robotics market value: $8.7 billion; + software, peripherals, systems: $26 billion ! year 2012 was second highest in sales (but -4% w.r.t. the record year 2011) ! industrial robot sales in 2012: 159K units (large variations in different areas)
! Americas: +7% (28K); USA: +9% (22K units) ! Asia/Australia: -5% (86K); Japan ! (28.7K), China !/+ (23K), Korea -24% (19.4K) ! Europe: -6% (41K); Germany -10% (17.5K), Italy -14% (4.4K) ! increase in automotive, reduction in electronics (strong) and machinery
! forecast on operational stock of industrial robots: 1.5M units in 2015 ! service robot sales in 2012: +2% (16K units) for professional use and +15%
(3M units) for personal/domestic use, out of which 1.1M units for entertainment ! professional use: defense (6.2K units, most UAV, 40% share), field robots
(5.3K, 33%), medical/robot surgery (1300 units, but 44% in value)
executive summary for 2013 (yearly statistics by IFR)
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Diffusion Industrial robots in operation worldwide
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(as reference: industrial robots in stock in 1983 = 66K) length of robot service life is estimated in 12-15 years
World Robotics 2012
1.15M robots
still over- optimistic
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Diffusion Industrial robots in operation by world regions
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World Robotics 2013
Europe
1.2M robots!
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Annual supply New industrial robots worldwide
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World Robotics 2013
second highest level ever ! 160K new units
* forecast
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Annual supply Largest markets of new industrial robots
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elaborated from World Robotics 2013
Italy
-12%
70% of world supply goes to 5 markets
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Annual supply New robots by industrial sectors
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continued growth!
largest reduction
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Density of robots - 1
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number of robots per 10000 employees in the manufacturing industry in 2011 (revised data)
World Robotics 2013
degree of automation
still relatively high
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Density of robots - 2
number of robots per 10000 employees in the automotive and in all other industries in 2011
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from W
orld Robotics 2012
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A long-range trend in robot prices
An articulated industrial robot with six degrees of freedom of medium/large size costs about 100 KEuro
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Industrial applications
• manipulation (pick-and-place) • assembly • spray painting and coating • arc welding • spot welding with pneumatic or servo-controlled gun • laser cutting and welding • gluing and sealing • mechanical finishing operations (deburring, grinding)
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Robotized workcells
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Welding - 1
• spot with servo-controlled gun • stud welding
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Welding - 2
• spot (discrete) or arc (continuous)
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Deburring
• car windshields may have large manufacturing tolerances and a sharp contour profile
• the robot follows a given predefined Cartesian path
• the contact force between cutting blade and glass must be feedback controlled
• deburring robot head mounts a force load cell and is pneumatically actuated
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Robot manipulator kinematics
Comau Smart H4
closed kinematic chain
Kuka 150_2 (series 2000)
open kinematic chain (rigid bodies
connected by joints)
Fanuc F-200iB
parallel kinematics
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Other types of robots - 1
SCARA (Selective Compliant Arm for Robotic Assembly)
• 4 degrees of freedom (= joints): 3 revolute + 1 prismatic (vertical) axes • compliant in horizontal plane for micro-assembly and pick-and-place
Mitsubishi RP (repeatability 5 micron,
payload 5 kg)
Mitsubishi RH (workspace 850 mm,
velocity 5 m/s)
Bosch Turbo
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Other types of robots - 2
Comau Mast gantry robot
(payload up to 560 kg)
ABB Flexpicker (150 pick-and-place operations/minute)
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Mobile base robots in industry
• AGV (Automated Guidance Vehicles) for material and parts transfer on the factory floor: wire- or laser-driven along predefined paths
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Lifting AGV for warehouses
video by Elettric80
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Kiva Systems
company acquired for $775 million by Amazon (store automation)
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Some application domains
! extreme environments ! space ! underwater
! medical robotics ! assistive ! rehabilitative ! surgical
! home cleaning ! agriculture ! lawn mowing ! food industry
! mine exploration ! de-mining ! civil and naval construction ! automatic refueling ! museum guide ! fire fighting ! inspection and surveillance ! emergency rescue ! entertainment ! humanoids
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professional & personal service robots
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Space robotics
• NASA Sojourner, first robot to explore Mars in 1997
• DLR Rotex robot arm in a set of experiments of the Spacelab-D2 mission on the Columbia shuttle
in 1993
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Space robotics
• robotic arm SSRMS (Canadarm) in operation on the Space Shuttle, with outstretch of about 30 meters
• the service manipulator on the ISS is mounted on a supporting rail
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Robots on ISS videos
Canadarm2 delivering Destiny Lab from Space Shuttle Atlantis to ISS
(Feb 2001)
service manipulator and Robonaut on the ISS (artistic views)
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Underwater robotics
• Odin-III, omni-directional (University of Hawaii)
• ROMEO in Antarctica (CNR, Automazione Navale, Genova)
• Odyssey-IV (MIT)
• typically actuated by thrusters (directional forces on the tail)
• cannot translate sideways (“maneuvers” are necessary)
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Underwater robotics
• Aqua robot, amphibious robotic vehicle (McGill University)
• size and weight: 50x65x13 cm, 18 kg • locomotion: through six independently actuated flippers • maximum depth: 37 m • sensors: two cameras (front/back), acoustic sensor for localization
(sonar), tri-ocular sensor (structured light) • power source: 48V lithium battery
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Outdoor exploration
• the LAMA robot at CNRS-LAAS (Toulouse) is a french-russian cooperation
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Volcanology
RoboVolc vehicles on the surface of the Etna volcano:
wheeled and tracked robots (University of Catania, 2003)
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video video
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De-mining
• PEMEX lightweight anti-personnel mine detector (EPFL, Lausanne)
• weight: 16 kg, max 6 kg for wheel • two 70 W DC motors (vel 2 m/s) • oscillating sensorized head
• teleoperated mobile robot on tracks used by the police for bomb disposal
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Medical robotics patient aid
• deambulation support system PAM-AID (Trinity College, Ireland)
• MOVAID project for the aid of disabled people in home activities (Scuola Sup Sant’Anna, Pisa)
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MOVAID project videos
domestic activities using the 7R Dexter arm
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Medical Robotics rehabilitative
• robotic arm with shoulder and elbow having full mobility and with a gripper hand (Pittsburgh University)
• in tests on monkeys (with immobilized upper limbs), motion commands sent to the arm by the central nervous system (brain) are measured by a set of electrodes and used to command the robotic arm
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Medical robotics rehabilitative
• commercialized by Ossur (Iceland)
• a prosthesis sensorized at the knee (angle and force), capable of processing sensor data and of extracting a gait model of the user, so as to adapt its dynamical behavior (knee motion and stiffness)
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Medical robotics rehabilitative
• "RUPERT" Robotic Upper Extremity Repetitive Therapy (Arizona State University + Kinetic Muscles, Inc.)
• sustains the human arm with pneumatic muscles (McKibben actuators) • it can be programmed for the execution of cyclic exercises of rehabilitation
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Medical robotics hospital and nursing
• HELPmate mobile robot (USA) works in hospitals as auxiliary personnel
• user interface of the Care-O-Bot robot nurse
(IPA Fraunhofer, Germany)
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video
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Surgical robotics
• Robodoc by Integrated Surgical Systems (USA) was used first for orthopedic surgery (ankle replacement)
• Steady-Hand force-assisted system (Johns Hopkins Univ) improves accuracy and repeatability of surgeons allowing task-driven compliance
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Surgical robotics
• emulation of a laser brain surgery operation and graphic rendering of a surgery intervention on the spinal cord
patient is first “mapped” off-line by a series of CAT scans; data are then “localized” in the actual operation field
(IPA Fraunhofer) Robotics 1 21
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Surgical robotics
• da Vinci© system (Intuitive Surgical Inc.) [see the course “Medical Robotics”]
overview of the operating room
command station
(haptic) interface
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Home cleaning
• vacuum cleaner robot Trilobite by Electrolux (Sweden)
• commercial video iRobot Roomba 560 (USA) ‐now available everywhere!
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Cleaning of external surfaces
• a robot prototype for cleaning large glass windows of civil buildings
• Skywash cleans civil airplane bodies and is “the largest robot worldwide” (AEG/Dornier/FhG-IPA/Putzmeister)
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Lawn mowers
• Automower autonomous robot by Husqvarna (Sweden) has low power consumption (biocut) and solar recharge
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video
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Food industry
• Ulixes robot by IMT (Germany) aligns 10000 sausages per hour
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• AdeptOne SCARA robot with 4-sausage gripper
video
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Automatic refueling
• OSCAR robot (France) for gasoline refuel of flees of transportation busses
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Automatic refueling
Autofill system in two tank stations of OK (Mörgby, Sweden) and BP (USA)
a “kit” is available for all car models: tank cap, transponder, pipe union
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Automatic refueling
• Smart Pump system (USA)
• cooperation of Reis Robotics, Mercedes, BMW, and IPA Fraunhofer
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Inspection and surveillance
two examples of mobile manipulators • 6-dof Puma arm mounted on the Nomad XR400 (multiple steering
wheels, synchro-driven)
• 5-dof Scorbot arm mounted on a ATRV-JR (fixed wheels, skid-steering vehicle)
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Mine exploration
• Groundhog (Carnegie Mellon) • 750 kg, double axes, articulated • movable SICK laser (rangefinder) • gas and immersion sensors • SLAM algorithm (Simultaneous
Localization And Mapping)
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RoboCup and RoboRescue
• RoboCup middle-size league (wheeled mobile robots, here with omni-directional vision)
• Orpheus robot won the RoboRescue (exploration and search of victims
in a disaster environment)
2003 edition, Padova Fair
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DARPA Grand Challenge
• competition for fully autonomous vehicles on a long mixed-type track
5 SICK lasers for mapping and localization on the 2005 winning VW Touareg “Stanley”
the “Ghostrider” motorcycle testing in Nevada
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Free time
• bartender robot by Erhardt+Abt (Germany)
• the robotic ball boy (RWI and Carnegie Mellon Univ, USA) that won in 1996 the “Clean up the tennis court!” competition of the AAAI
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Museum guidance
• three mobile robots for museum guidance (Museum für Kommunikation, Berlin)
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Entertainment
• the Anaconda robot (Edge Innovations, USA) weights various tons, has 60 artificial spinal vertebrae, is 12 meters long,
and is actuated by hydraulic motors so as to reach a speed of up to 60 km/h
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Human motion replication
• the anthropomorphic robot by Sarcos Entertainment Systems (USA) replicates the movements of a human wearing a sensorized exoskeleton
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Human-Robot Interaction (HRI)
• physical and cognitive interaction between a Sarcos robot and a human
intrinsic mechanical compliance in the robot structure is here more important than accuracy in motion execution
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Human-robot cooperation
• Mr. Helper (Tohoku Univ) cooperates in carrying heavy and/or large loads
• CoBot scooter-like robot for mounting car doors (General Motors)
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Biomorphic robots
• biomorphic robots by MIT Leg Lab, USA: Troody dinosaur and Flamingo bird
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Four-legged locomotion
• AIBO ERS-210 by Sony, playing on the soccer field of RoboCup
16 actuated dofs with encoders, color camera, 3 accelerometers, ultrasound sensors, tactile and micro-switch (feet), battery: everything in 1.6 kg!
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Anthropomorphic upper limbs
• Justin robot has 7+7+3 degrees of freedom + many dofs in the two hands
(DLR, Germany)
• the robot developed in the German national project
on humanoids Robotics 1 53
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Humanoid robots
• Metropolis (Fritz Lang, 1927)
• Pino by ZMP (2003)
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Humanoid robots
• the ASIMO project by Honda started in 1986
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ASIMO in action
ASIMO climbing stairs
(Robodex 2003)
first and second series (smaller size)
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video video
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Humanoid robots
• humanoid robot (Q. Huang, PR China)
• HRP-2 (58 kg, 150 cm, 30 dofs)
2002 Tokyo Univ
• Sony SDR-3X (about 60 cm)
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Sony Q-RIO
• Sony Q-RIO the first robot able to balance on a surf and stand up from the floor
(dead in 2006…)
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group dancing video (2003)
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Humanoid robots
• NAO, Aldebaran Robotics since 2008, replaces AIBO quadrupeds in RoboCup standard league
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height = 57 cm weight = 4.5 kg
kinematic description