1. M. De Cecco - Lucidi del corso di Robotics Perception and Action Robotics Perception and Action Prof. Mariolino De Cecco, Ing. Mattia Tavernini Department of Structural Mechanical Engineering, University of Trento Email: mariolino.dececco@ing.unitn.itmariolino.dececco@ing.unitn.it http://www.mariolinodececco.altervista.org/

2. M. De Cecco - Lucidi del corso di Robotics Perception and Action What is a Robot? Robot definition

3. M. De Cecco - Lucidi del corso di Robotics Perception and Action In 1921 the term ROBOT was introduced by Karel Čapek that wrote “I Robot Universali di Rossum (R.U.R.)” from the slavic term ROBOTA that means executive work (the robot ends up to rebel) In 1940 Isaac Asimov in his books conceived robots with human features but without feelings. Their brains were programmed by man according to precise rules of ethical conduct: 1.A robot may not injure a human being or allow, remaining idle, that a human being is in danger 2.A robot must obey orders given it by human beings, except where such orders would conflict with the First Law 3.A robot must protect its existence unless such protection should not be in conflict with the first or second law Robot definition

4. M. De Cecco - Lucidi del corso di Robotics Perception and Action Robot definition Science fiction has influenced the imagination of people not belonging to the world of engineering which envision robots as androids able to talk and walk (some industrials still prefer anthropomorphous robots than Cartesian although less suitable for the application) Currently there is no commonly accepted definition A common robot definition is a system able to make an intelligent connection between perception and action

5. M. De Cecco - Lucidi del corso di Robotics Perception and Action A robot is able to: PERCEPT PLAN ACT Robot definition

6. M. De Cecco - Lucidi del corso di Robotics Perception and Action Engineering involved in robotics: MECHANICS ELECTRONICS INFORMATICS Robotics definition

7. M. De Cecco - Lucidi del corso di Robotics Perception and Action The robot from a systemistic point of view

8. M. De Cecco - Lucidi del corso di Robotics Perception and Action Robot categories Manipulators Mobile vehicles Aeorobot Free-flying robot Humanoids Biomimetics

9. M. De Cecco - Lucidi del corso di Robotics Perception and Action The robot from a systemistic point of view Structured environment Not structured Few sensors Many sensors (also reduntant ) SENSOR FUSION DATA AGGREGATION

10. M. De Cecco - Lucidi del corso di Robotics Perception and Action DATA AGGRE- GATION MOBILE VEHICLES SENSOR FUSION Introduction – TOPICS COVERED Perception ROBOTIC SENSORS Action PATH PLANNING PATH CONTROL

11. M. De Cecco - Lucidi del corso di Robotics Perception and Action Holonomic and non-holonomic systems In manipulators one extreme is rigidly constrained to a base, to the other end is fixed an end effector. Knowing the variable associated with each joint (joint variable: angle for revolute, relative position for prismatic), the position and orientation (pose or posture) of the terminal are uniquely determined In the case of mobile robots we do not have rigid constraints to determine the position unequivocally, but wheels (generally) that determine a speed constraint Knowing the variable connected with each joint (total angle of rotation of the wheel) there is no information about the pose of the vehicle

12. M. De Cecco - Lucidi del corso di Robotics Perception and Action An example The vehicle arrives in a final position estimating means odometry to be P1 (with associated uncertainty expressed from the ellipse corresponding) A measuring system to the triangulation communicates that is located in P2 (with associated uncertainty expressed from the ellipse corresponding) WHERE THE ROBOT ESTIMATES TO BE? Where I am? ? Where I’m going? SENSOR FUSION P1P1 P2P2

13. M. De Cecco - Lucidi del corso di Robotics Perception and Action DATA AGGREGATION

14. M. De Cecco - Lucidi del corso di Robotics Perception and Action In order to test million reagents to determine the most suitable mixtures to the definition of new drugs requires the intervention of automatic machines reprogrammable. In transactions by human users, you can check about 30 mixtures per day Through the intervention of the robot the number rose to 10,000 in one day Other advantages are: avoids repetitive operations and then alienating for a person it avoids the handling of hazardous reagents (eg radioactive, corrosive, etc.) can be controlled in an automatic manner the environmental conditions (eg temperature) disadvantage: the whole system must be structured in a much more rigid than the human case (storage systems raw materials and compounds, manipulation and insertion). So the company has to bear a greater initial cost compared to a benefit in the medium to long term Applications – Robot in Pharmaceutics

15. M. De Cecco - Lucidi del corso di Robotics Perception and Action Applications – Robot for goods handling

16. M. De Cecco - Lucidi del corso di Robotics Perception and Action Robotic vehicles from field The robotic vehicles are developed for both civilian and military applications that space for use in land primitive, ie without roads of any kind. The experience developed for autonomous vehicles "off- road" is used in other sectors such as agriculture, mining and operations in hazardous environments

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18. Running and Jumping In the evolution of robotics there is a long tradition of making use of imitation of biological systems. The Japanese research laboratories have been and are very interested in the "bio- mimetic", achieving important successes.

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20. A circular soft robot that can crawl and jump

21. M. De Cecco - Lucidi del corso di Robotics Perception and Action Applicazioni – AGV industriali Examples of industrial applications: - Transpallet - robot to change the spool

22. M. De Cecco - Lucidi del corso di Robotics Perception and Action Applications – Robots for surgery It is teleoperated systems that allow remote operations

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24. Automobile Applications – Robot welding / painting

25. M. De Cecco - Lucidi del corso di Robotics Perception and Action International research objectives