Robotics without Reason

Robotik Seminar

WS 99/00

Rojas

Behnke

Overview

• What is a robot?

• Robots in Sci Fiction

• Reactive robots and an example: Genghis

• Humanoid robots

• Topics for the seminar

What is a robot?

• Webster: 1a: A machine that looks like a human being and performs various complex acts

• 2: A device that automatically performs complicated often repetitive tasks

• 3: A mechanism guided by automatic controls

• Software robots?

What is a Robot?

Cartesian robot Cleaning robot

Service robots

Building walls

Gas station

Robots in the World

Installations

Stock

Robots in Science Fiction

The word robot was coinedby Karel Capek in R.U.R„Rossum‘s Universal Robots“

Robby from The Forbidden Planet

Lost in Space

Metropolis - The robot

Reactive Robotics

A walking machine

Walking robot - Genghis

Brook‘s Hexapod with whiskers

Subsumption Architecture

• Incremental method for building robots

• Network of finite state machines links sensors to actions

• Internal timers

• Control system built in layers

• Message passing augmented finite state machines

Augmented Finite State Machine

EndlicherAutomat

R

R

R

SensorI

S

Walking with six legs

Walk Up legtrigger

leg down

beta posS

Equilibrium of the legs

alphaadvance

alpha balance

alpha posS

Alpha balance tries to makethe sum of the alpha angles zero

Walking

WalkUp legtrigger

leg down

beta posS

alphaadvance

alpha balance

alpha posS

Walking in rough terrain

WalkUp legtrigger

leg down

beta posS

alphaadvance

alpha balance

alpha posS

Alphacollision

New Frontiers

Humanoids

The Honda Humanoid

Max. work weight 5kg per hand Running time about 15min. Weight 210kg

Degree of Freedom (DOF) Leg's DOF: 6x2=12Arm's DOF: 7x2=14Hand's DOF: 2x2=4

Actuators DC servo motors

Sensors GyrometersG-sensorsSix axis force sensors on wrists and feetVision cameras

Transmitter Wireless ethernet modem Battery 136V7Ah(Ni-Zn)

Hardware

Cog -An intelligent Humanoid

Topics for the Seminar