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Alvaro SotoCh. 2
IIC-3684 Mobile Robotics DCC - PUC
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Mobile Robots
IIC-3684
Robots History
Professor : Alvaro Soto
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IIC-3684 Mobile Robotics DCC - PUC
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The Movies View
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IIC-3684 Mobile Robotics DCC - PUC
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Robots in the books
In 1921 Czechoslovakian playwright
Karel Capek creates the play R.U.R.:Rossum's Universal Robots
Czech robota, which means tedious
labor
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IIC-3684 Mobile Robotics DCC - PUC
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Asimov 3 laws of Robotics (Runaround 1942)
1. A robot may not injure a human, or, through inaction,
allow a human being to come to harm.
2. A robot must obey the orders it by human beingsexcept where such orders would conflict with the FirstLaw.
3. A robot must protect its own existence as long as suchprotection does not conflict with the First or SecondLaw.
0. Later he also added the zeroth law
Robots in the books
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IIC-3684 Mobile Robotics DCC - PUC
Alvaro Soto
What are the real robots today ? Are human-like with human capabilities?
The unconditional servants ?
Maybe the rebel machines ?
The highly smart but lack of feeling
improved humans ? Just trash-can type of machines ?
Let see the real story
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IIC-3684 Mobile Robotics DCC - PUC
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Grandfather and father of Robotics George Devol design the first programmable robot,
Universal Automation (1954)"The present invention makes available for the first time a
more or less general purpose machine that has universalapplication to a vast diversity of applications where cycliccontrol is desired."
George Devol and Joseph Engelberger start Unimation,
the first Robotics company (1956)
Unimation starts the era of industrial manipulators oruntil now known as Industrial Robots but they are justmechanical arms
The era of the close loop approach and electricalengineers
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IIC-3684 Mobile Robotics DCC - PUC
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Hits in the history on Industrial Arms 1961 General motors get first industrial arm
1967 Japan imports the Versatran robot from AMF
1968 Kawasaki licenses hydraulic robot design fromUnimation
Cincinnati Milacron releases the T3
1974 Victor Scheinman funded Vicarm Inc.
1978 Using technology from Vicarm, Unimation develops
the PUMA 1983 Adept Technology is founded
80s The robot industry starts its rapid growth, with a newrobot or company entering the market every month
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Industrial Arms Today Japan big player
Kawasaki Robotics, Hitachi, Mitsubishi
Europe ABB and Kuka Roboter
USA Adept Technology and CRS Robotics
Main applications: welding, painting, assembling and packaging manufactured
goods, loading and unloading machines, dispensing adhesives,amongst others
Year 2000, an industry of US$5.6b with 30.000 units sold
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IIC-3684 Mobile Robotics DCC - PUC
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Example: ASEA IRB L6/2 Description
Industrial Robot
Five axis Payload of 13 lbs
Repeatability +.2mm
Horizontal reach1229mm
Used for Part handling
Tool manipulation
Assembly
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Fixed or limited mobility
Operates in structured environment
Limited perception
Relatively simple control program
A big, mature, and well establishedindustry
Industrial Arms Lessons
Are they robots ?
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IIC-3684 Mobile Robotics DCC - PUC
Alvaro Soto
Mobile Robots Gray Walters Tortoise (1953
Even organisms with extremely simple nervoussystems could show complex and unexpectedbehavior
The turtle Steering motor on front wheel
and driving on rear wheels Two vacuum tubes for control
One photocell
One bump sensor
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IIC-3684 Mobile Robotics DCC - PUC
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Light-seeking robot
Behaviors
Go toward weak light Go away from strong light
Recharge batteries
Gray Walters Tortoise
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IIC-3684 Mobile Robotics DCC - PUC
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Beast (1960, JHU)
Controlled by dozens of
transistors Wall following behavior,
using arm and sonar When battery ran low, it
search for outlets usingphotocell optics It has a specially designed
recharging arm
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IIC-3684 Mobile Robotics DCC - PUC
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Shakey (1967-1970, SRI)
First AI robot
Leave in a world of blocks All Processing is off-board Model based Uses Strips
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IIC-3684 Mobile Robotics DCC - PUC
Alvaro Soto
Stanford Car
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IIC-3684 Mobile Robotics DCC - PUC
Alvaro Soto
Bad News for R2D2
Mobile robots are just lab curiosities
Unable to operate in real time even in
simple block worlds Lack of computer power, lack of
suitable batteries and sensor, lack of
mostly everything Sentence: not more mobile robots from
70s to Mid 80s
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Alvaro SotoCh. 2
IIC-3684 Mobile Robotics DCC - PUC
Alvaro Soto
Good News
From Robot by Hans Moravec
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IIC-3684 Mobile Robotics DCC - PUC
Alvaro Soto
MIT Behavior based control
Genghis
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Alvaro SotoCh. 2
IIC-3684 Mobile Robotics DCC - PUC
Alvaro Soto
CMU 3D Robotics Institute 1985
Dirty, Dull, and Dangerous
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Alvaro Soto
Japanese Humanoids
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IIC-3684 Mobile Robotics DCC - PUC
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New Domains for Robots
Today big challenge is to provide robots with good
perceptual capabilities
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IIC-3684 Mobile Robotics DCC - PUC
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Home care
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IIC-3684 Mobile Robotics DCC - PUC
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Security and Surveillance
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IIC-3684 Mobile Robotics DCC - PUC
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Research Platforms
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IIC-3684 Mobile Robotics DCC - PUC
Alvaro Soto
Entertainment
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IIC-3684 Mobile Robotics DCC - PUC
Alvaro Soto
Toys
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IIC-3684 Mobile Robotics DCC - PUC
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Marketing/Hospitality
C 368 bil b i DCC PUC
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IIC-3684 Mobile Robotics DCC - PUC
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Exploration
IIC 3684 M bil R b ti DCC PUC
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IIC-3684 Mobile Robotics DCC - PUC
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Humanoids
IIC 3684 Mobile Robotics DCC PUC
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Elder Assistant
IIC 3684 Mobile Robotics DCC PUC
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IIC-3684 Mobile Robotics DCC - PUC
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Military Robotics
IIC-3684 Mobile Robotics DCC - PUC
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IIC-3684 Mobile Robotics DCC - PUC
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Market Size
IIC-3684 Mobile Robotics DCC - PUC
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IIC 3684 Mobile Robotics DCC PUC
Alvaro Soto
What is ahead!
RobotsAre
Raising
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