1. Introduction to Robotics and ASU Robots Yinong Chen (Ph.D.) School of Computing, Informatics, and Decision Systems Engineering

2. Outline Components of a Robot 2 Examples of Robots and Robot Design 3 ASU-Carl Hayden-Intel Robots 4 What is a Robot 1

3. Computer Systems 3 Computer systems Embedded system Personal computer Multi-user computer Laptop Desktop Mainframe Workstation General- purpose computer Cell phone PDA Airplane TV Car Robot Game machine MP3 Player GPS Special- purpose computer

4. What is a Robot? A robot is a mechanical device, it is programmable, and controllable by a computer or by a human. It is usually a system, which, by its appearance or movements, conveys a sense that it has intent of its own. Coroware Kuka Robosoft Robotics Connection Mindstorm NXT iRobot

5. Robot Body The component that holds or connect other components through links and joints:

6. Types of Joints A ball joint allows rotation around x, y, and z axes, A hinge joint allows rotation around one axis, A slider joint, which allows movement along one axis. A Spring joint, which allows free movement along all axes. Source: www.impulse-based.de/manual.html Combined

7. Robot Effectors Component to accomplish some desired physical functions Examples: – Hands/Claws – Legs – Wheels – Cage – Tools

8. Robot Actuators (Muscle) Actuators are the “muscles” of the robot. These can be electric motors, hydraulic systems, pneumatic systems, or any other system that can apply forces to the system. Electric Hydraulic systems Pneumatic

9. Sensor Classes: Ranging sensors  Ranging sensors, such as  sonar,  ultrasonic,  IR, and  laser sensors:  These sensors return the distance to the object.  They typically have two lens (eyes). One sends out a light beam and the other receives the reflected beam.  By measuring the time and angle of reflected beam, the sensors can measure the distance to the object Distance = speed x time Sensors derive information from environment.

10. Sensor Classes: Other Sensors There are many types of sensors  Contact (touch) sensor: A signal is generated when touched  Compass (magnetic) sensor / Gyro senor (rotation)  GPS (Global Positioning System)  Color sensor: return different value for different colors  Temperature sensor Return the temperature  Cameras and microphones  Vehicle accelerometer sensor  Vehicle tire pressure sensor  …

11. Example: NXT Robot Body, Sensors and Effectors

12. Example: NXT Robot Body, Sensors and Effector Sonar Sensor Touch Sensor Actuator: Motor Effector While (true) { if touch sensor pressed Trigger the motor; else if sonar distance < 3 feet { while sonar distance < 5 { } Trigger the motor; } Image from: http://www.gadgetsireland.tv/2007/09/

13. ASU-Carl Hayden-Intel-Robotics  Seven years of efforts  Evolving designs and implementations  Industry – university cooperation  International cooperation  University – high school cooperation  We have a working RaaS http://www.public.asu.edu/~ychen10/ Sensor service Motor service