Introduction to Robotics

Berke Gür

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What is a robot?
• The term ‘robot’ first appears in the 1921 play
R.U.R or Rossum’s Universal Robots by Czech
writer Karel Capek

« A reprogrammable, multifunctional manipulator

designed to move material, parts, tools, or
specialized devices through various programmed
motions for the performance of a variety of tasks. »

– Robotics Institute of America (1979)

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What is a robot?

« A robot is
• an actuated mechanism programmable in two or more axes
with a degree of autonomy,
• moving within its environment to perform intended
tasks.
Autonomy in this context means the ability to perform
intended tasks based on current state and sensing
without human intervention. A service robot is a robot
that performs useful tasks for humans or equipment
excluding industrial automation application. »

- ISO Standard 8373(2012)

« A machine that senses, thinks, and acts to perform

tasks normally ascribed to humans. »

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History of Robotics

1921: Karel Capek coins the term ‘robot’ in a

Turing
play
1936: Alan Turing invents the Turing
Machine
1941: Isaac Asimov coins the term ‘robotics’
to describe robot technology
1948: Nobert Weiner publishes his highly
influential text on Cybernetics
Weiner Asimov

Unimate

1961: Unimate becomes the first operational

industrial robot (and was used to
stack hot die-cast metals at the
General Motors facility in New Jersey)

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History of Robotics
Wabot-1
1971: Wabot-1 becomes the first full-scale
anthropomorphic robot

1978: The Unimation Puma 560 6-DOF

manipulator is introduced
Puma 560

1985: The Puma 560 becomes the first

surgical robot when Kwoh et al. Mars
perform neurosurgical biopsies Sojourner

1997: Mars Sojourner surveys Martian

terrain
1999: Sony introduces the AIBO AIBO

2000: Honda introduces the highly capable

ASIMO humanoid
ASIMO
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Manipulators

KUKA Agilus

KUKA LBR iiwa

Stewart
Platform

Kinova Jaco

ABB IRB940

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Mobile (Autonomous) Robots

Google Self-
Driving Car

Northrop Grumman
Global Hawk UAV

EVA Robotics
Primer

Kongsberg Remus
AUV

KUKA youBot

JPL RoboSimian
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Manipulation Interfaces
Schunk WSG

Robotiq

SimLab Allegro Hand

Shadow Robotics
Hand
BTM Corp PG
Grippter
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Humanoids
Honda Asimo
Aldebaran NAO

DLR Justin

NASA Valkyrie

IIT iCub

Boston Dynamics
Robotics AIST HPR-4C Miim Atlas 3/15/2021
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Biomimetic Robots

CMU Snake Robot

Festo SmartBird

Festo
AquaPenguin

Boston Dynamics
Boston Eng. Corp. Big Dog
BioSwimmer

Stanford Stickybot FORTH Octobot

Berkeley Bolt
Robot Insect

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Application Areas of Robotics

Medical Service

Space

Household

Industrial
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The Study of Robotics

Mechanical Electrical
Engineering Engineering

• Kinematics • Sensors
• Dynamics • Electronics
• Mechanics • Microcontrollers
• Mechanisms • Embedded Systems
• Feedback Control
Computer Science • Signal & Image
Processing

• Computer Vision
• Machine Learning
• Artificial Intelligence (AI)
• Perception
• Motion Planning
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Kinematics

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Kinematics

8.2
8.2

57.16

113.6

24
135

147 155
33

All dimension
in [mm]

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Kinematics

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Dynamics

  
i
 i
Fc ,i
i
M i +1 = i
i +1 R i +1M i +1
Mi

i

M c ,i

 LINK i
i
Fi  
i
Fi +1 = i
i +1 R i +1Fi +1
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Control

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Perception

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roBAUtics Lab
Bahçeşehir University Robotics Lab

19
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Human Centered Robotics
• Take robots out of the factory and bring it into our homes, offices, schools, hospitals,
shops ….
• Required capabilities
– Intrinsinctly safe (for humans)
– Cognitive capabilities
– Advanced control & autonomy
– Dexterous manipulation &
iRobot RP-VITA
interaction with environment
Honda Asimo

Aldebaran Pepper

Robotics Savioke Botlr Univ. of Naples RoDyMan 3/15/2021

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Dynamic Simulation in Virtual Environments
• Interaction with environment
• Multi-contact simulation
• Force/torque control
• Prioritized null space tasks
• Whole body control

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Robot Learning, Motion & Interaction
• Learning by demonstration
• Modeling & adapting human behavior
• Human-robot interaction
• Dexterous object manipulation
• Multi-modal perception

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Haptics & Teleoperation
• Stable bilateral haptic teleoperation
– Time delays
– Transparency
– Multi-contact
• Haptic hardware design
• Applications
– Medical
– Automotive
– Gaming
– …

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Haptics
• Haptics means ‘related to the sense of touch’
– Kinesthetic
– Cutaneous (tactile)

Force Dimenstion
Omega6

UEC Shimojo Lab

Tactile Sensor

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Tele-Robotics
• Applications in
– Medical (surgery, rehab)
– Space exploration
– Underwater
– Search & Rescue
– Disaster Relief

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• K12 & high school education
activities
• Robotics summer camp
• BAU Robotics Days
• BAUSEM robotics education

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roBAUtics Lab

• C-Robotic (old C-MAC) across Fazıl Say

• robotics.bau.edu.tr
• Robautics
• @robautics
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Next Lecture
• Lecture topics
– Introduction to Manipulators
• Reading assignment: Ch.1 in textbook
• Questions?

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