19CSE455-ARTIFICIAL INTELLIGENCE

AND ROBOTICS

INTRODUCTION
A A NIPPUN KUMAAR
DEPARTMENT OF CSE
AMRITA SCHOOL OF ENGINEERING, BANGALORE
PREVIOUSLY
▸ Course Overview

▸ Robotics - Introduction

▸ Robotics - History

▸ Current Trends in Robotics

▸ Artificial Intelligence - Introduction

▸ Robotics and Artificial Intelligence

2
THIS SESSION
▸ Classification of Robots

▸ Components of Robots

▸ Basic Terminologies

▸ Application of Robotics

3
CLASSIFICATION OF ROBOTS
▸ Manual-Handling Robots

▸ Fixed Sequence Robots

▸ Variable Sequence Robot

▸ Playback Robot

▸ Numerically Controlled Robot

▸ Intelligent Robot

4
 COMPONENTS OF ROBOTS

Actuators
Limbs/Muscle
Speaker
Mouth
Micro phone
Ears
Odor sensor
Nose
Camera
Eyes
Controller (or)
Brain
Processor

Image courtesy: 123rf.com 5

Image courtesy: pinterest
COMPONENTS OF ROBOTS
CHASSIS/BASE
POWER SOURCE

SENSORS CONTROLLER ACTUATORS

USER
INTERFACE

6
MECHANICAL UNITS
▸ Body, which basically consists of a graph of links and joints

▸ Wheel Design

▸ Other mechanical components

▸ Stability ratio for basic rover chassis design- 16 : 9 : 5

Image courtesy: robotics.kawasaki.com

7
Image courtesy: generation robotics
SENSORS
▸ What kind of senses do Robots need?

▸ Human senses: sight, sound, touch, taste, and smell

▸ Robot senses: measure robot configuration/condition and

its environment

▸ Information beyond the 5 human senses

8
Image courtesy: researchgate.net
ACTUATORS
▸ Generally, motors for controlling a mechanical system

▸ Common robotic actuators utilize combinations of

different electro-mechanical devices

▸ DC motor

▸ Servo motor

▸ Stepper motor

▸ Brushless Motor

Image courtesy: robotshop.com

9
PROCESSORS & CONTROLLERS
▸ ‘Brain’ of the Robot

▸ Programmable

▸ Determines and controls the functioning of the robot

Image courtesy: arduino

10
POWER SUPPLY
▸ Must be suitable to run the motors and associated circuitry

▸ Can be either on-board and off-board

▸ Typical power requirement range: 3V to 24V DC

Image courtesy: vsblog.wordpress.com

11
TERMINOLOGY
▸ Degree of Freedom (DoF) ?

▸ To place an object in this space, how many DoF is reqd?

▸ X, Y and Z

▸ What about orientation of the object?

▸ Roll, Pitch and Yaw

▸ Definition - DoF

▸ The number of independently controlled actuators/joints. This number

can get very high for robots with many joints.

▸ The directions and orientations that a robot can move in. This number
is limited to 6 for X, Y, Z- translation and pitch, yaw and roll Orientation.

12
DOF
▸ How Many DoF A human arm has ??

13
DOF
▸ If a robot has an actuator for every DOF then all DOF are
controllable

▸ In practice, not all DOF are controllable

How many Controllable DoF ??

14
DOF
▸ A car has 3 DOF

▸ Translation in two directions

▸ Rotation in one direction

▸ How many of these are controllable?

▸ Only two can be controlled

▸ Forward/reverse direction

▸ Rotation through the steering wheel

▸ Some motions cannot be done

▸ Moving sideways

▸ The two available degrees of freedom can get to any position and orientation in
2D

15
HOLONOMICITY
▸ A robot is holonomic if the number of controllable DOF is
equal to the number of DOF of the robot

▸ A robot is non-holonomic if the number of controllable

DOF is smaller than the number of DOF of the robot

▸ A robot is redundant if the number of controllable DOF is

larger than the number of DOF of the robot

16
APPLICATIONS
▸ Service Robots

▸ In Hospitals to help Elderly

▸ In Houses to perform some chores – Vacuum Cleaning,

Lawn Mower, Dish washing, Even Cooking !!!

▸ In Hotels for serving food

▸ Courier Service, Pizza Delivery

▸ Museum Guide

▸ Etc…

17
APPLICATIONS
▸ Industrial Robotics

▸ Almost all big scale manufacturing industries Robot plays a

role.

▸ Medical Robotics

▸ Robots for performing Operation

▸ Robot Nurses

▸ Nano Robot tablets

▸ For medical Theraphy

▸ Space Robotics

18
APPLICATIONS
▸ Rescue Robotics

▸ For search and rescue operation in disaster environment

▸ Tele Robotics

▸ Deep Sea Exploring

▸ Military Robotics

▸ Robo Pets

▸ Etc… Etc…

19
THANK YOU !!!
20