Egresado Mecatronica

MOBILE ROBOTICS
Pedro Lima Maria Isabel Ribeiro Instituto Superior Técnico/Instituto de Sistemas e Robótica March 2002

Course Handouts All rights reserved

2002 - © Pedro Lima, M. Isabel Ribeiro

Mobile Robotics – Chapter 1

INTRODUCTION

Chapter 1 - Introduction

• Concepts / Definitions • Historical Evolution • Applications • Commercial platforms • Some Examples ofApplication/R&D projects • Components of a Mobile Robot • Course Organization • Bibliography

2002 - © Pedro Lima, M. Isabel Ribeiro

Mobile Robotics – Chapter 1

INTRODUCTION

Concepts / Definitions
• Robotics
– Scientific area that studies the link between Perception and Action

• Robot
– Device able to perform activities as a human – Programmable manipulator able to execute multiple operations(e.g., material and part handling), following programmed paths to fulfill a large variety of tasks.

• Mobile Robot / Mobile Platform
– Platform with a large mobility within its environment (air, land, underwater) – A system with the following functional characteristics:
• Mobility: total mobility relative to the environment • A certain level of autonomy: limited human interaction autonomy •Perception ability: sensing and reacting in the environment

The terms Mobile Robot, Mobile Platform, Vehicle, Robot are often used with the same meaning
2002 - © Pedro Lima, M. Isabel Ribeiro Mobile Robotics – Chapter 1 INTRODUCTION

Historical Evolution

2002 - © Pedro Lima, M. Isabel Ribeiro

Mobile Robotics – Chapter 1

INTRODUCTION

Historical Evolution
1150-950 a.c.
Anubis -Ancient Egyptian god of the dead, represented as a jackal or as a man with the head of a jackal. In the Early Dynastic period and the Old Kingdom he was preeminent as lord of the dead, but he was later overshadowed by Osiris. Anubis was associated with the care of the dead and was credited with the invention of embalming, an art he first practiced on the corpse of Osiris. Later assigned the roleof conducting souls into the underworld, he was sometimes identified in the Greco-Roman world with Hermes.

1921

Karel Capek - He is most famous for coining of the word ``robot'', from the Czech robota, work, in his play (Rossum's Universal Robots –RUR) about them taking over the world. The play used to be extremely popular and wellknown. R.U.R. (Rossum's Universal Robots), which introducedthe word robot into the English language, conceives a future in which all workers will be automated. Their ultimate revolt when they acquire souls and the ensuing cotastrophe comprise an exciting, vivid theatrical experience See http://www.agora.qc.ca/reftext.nsf/Documents/Robot-Le_regne_des_robots_par_Karel_Capek for an explanation of RUR. http://www.plazaearth.com/usr/gasperi/walter.htm

2002 -© Pedro Lima, M. Isabel Ribeiro

Mobile Robotics – Chapter 1

INTRODUCTION

Historical Evolution
1950
Grey Walter (UK, University of Bristol) bulit three wheeled, turtle
like, mobile robotic vehicles. These vehicles had: a light sensor, touch sensor, propulsion motor, steering motor, and a two vacuum tube analog computer. Even with this simple design, Grey demonstrated that his turtlesexhibited complex behaviors. He called his turtles Machina behaviors Speculatrix after their speculative tendency to explore their environment. The Adam and Eve of his robots were named Elmer and Elsie ( ELectro MEchanical Robots, Light Sensitive. )

Elsie

http://www.plazaearth.com/usr/gasperi/walter.htm

The first AGV systems were developed in the 1950s by Barrett Electronics, USA
2002 - ©Pedro Lima, M. Isabel Ribeiro Mobile Robotics – Chapter 1 INTRODUCTION

Historical Evolution
1969
Shakey (Stanford University) it was the first
mobile robot to be controlled by vision

Shakey was set simple tasks to solve:
• To recognize an object using vision • Find its way to the object • Perfom some action on the object (for example, to push it over)

2002 - © Pedro Lima, M....