Advanced Robotics

Dr. Ashish Dutta

Professor, Dept. of Mechanical Engineering
Dean, Digital Infrastructure and Automation
Indian Institute of Technology Kanpur, INDIA
Course schedule: 12 weeks
Week Lessons/Topics

1 Introduction, transformations
2 DH Parameters
3 Forward and Inverse Kinematics, redundancy resolution
4 Velocity kinematics and Jacobian
5 Singular value decomposition, singularity and manipulation ability
6 Trajectory planning , dynamics
7 Sensors and actuators as used in robotics
8 Basics of linear control – PD, PID controller, model based control, stability
9 Multi finger grasping – form, force closures, grasp matrix
10 Locomotion – active and passive walkers, concepts of balance
11 Biped Gait and Balance using ZMP, kinematics and dynamic modeling of walk

12 Design and Optimization of legged mechanisms

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Course Plan

Weekly lecture and tutorial / problem solving

One Assignment each week

Reference Books:

1. Robot Dynamics and Control : Mark W. Spong and M. Vidyasagar, Wiley

2. Foundations of Robotics : T. Yoshikawa , PHI India

1. Advances Robotics – Redundancy and Optimization, Y. Nakamura ,

Addison-Wesley.

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

 Introduction to Robotics
- past, present and future

Dr. Ashish Dutta

Professor, Dept. of Mechanical Engineering
Dean, Digital Infrastructure and Automation
Indian Institute of Technology Kanpur, INDIA
What comes to your mind when you first hear or
think of a robot ?

Mechanical
 Mechanical machines
machines ??

Companions
 Companions // friends
friends

Pets
 Pets // toys
toys

Helpers
 Helpers

Dangerous machines
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Industrial Robot Arms ?
PAST

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Present - Life of an amazon robot !

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Social robots

FUTURE !

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Robots and Education

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

What will be the gender of the robot?

Male

Female

Neutral

What laws should be applicable to robots interacting

with humans ?

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

 Origin of Automation:
replacing human muscle power
 10,000 BC Stone tools used in early civilization:
tools make better tools.

Design of simple automation (150 BC) moving

engine, Herons door etc. in Greece.

1780 AD saw the creation of automatic dolls which

could write, draw pictures etc.

Punch cards used in power looms in France in 1801

for manufacture of textiles Joseph-Marie-Jacquard.

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Automation in ancient Greece (150 BC)

Steam engine Herons Door

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Programmed textile loom: 1801 in France

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Hard Automation in Ford Motor Company 1904

Idea of transfer lines in which a car was assembled

at different stations.

First use of hard automation – alignment devices,

transfer devices etc.

1904 Henry Ford’s mass production of vehicles in

the USA.

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Beautiful Automation !

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

 Just for History !
 1921 Karel Kapec’s play depicting human like
mechanical man (slave) - robots.

 1942 Isaac Asimov first used the term Robotics.

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

 Origin of robots
1945 master slave manipulator made for
radioactive material handling for the Atom Bomb
project.

A strictly
mechanical
device

Motion transfer by
wire rope and
pulleys

master slave

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

What changed everything ?

Mechanical systems became electro-mechanical !

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

 What changed everything?
Transistor - (1949) : concept of reprogram!

 1950 SHAKY : First robot-

 1952 George Dovel : teach / play back devices for NC

machines/ robots.

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Clumsy robots to sophisticated humanoids

1950 2000
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Evolution of NC technology

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Flexible Manufacturing System

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Computer integrated manufacturing

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Industry 4.0

Connection
involving=
machines-humans-
AI

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

 What is the definition of a Robot ?

Nobody seems to agree !

To be called a robot it should do some or all of the

following :
- move around
- sense and manipulate the environment.
- display intelligent behavior

Is a CNC machine a Robot ?

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Differences between Robotics and Automation ?
Robotics focuses on systems incorporating sensors
and actuators that operate autonomously or semi-
autonomously in cooperation with humans.

Robotics research emphasizes intelligence and

adaptability to cope with unstructured environments.

Automation research emphasizes efficiency,

productivity, quality, and reliability, focusing on
systems that operate autonomously, often in
structured environments over extended periods, and
on the explicit structuring of such environments.
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
 Three generations of robotics / engineering

First generation of robots: simple pick and place

devices with no external sensors.

Second generation robots: external Sensors (vision,

tactile, etc) for interaction with the environment.

Third generation robots: intelligence, smart

materials, bio , etc.

Future robots: bio-robots, micro , nano ,

cybogs, aneroids etc.

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

 First Generation Robots : 1950 – 1970
NC technology
 Simple motion
capabilities for
pick and place
applications

 Robots made of revolute

joints actuated by open
loop or closed loop control.

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Second generation of robots (1970 …1990)

Electronics: smaller, faster and cheaper processors

External sensors : interaction with the environment

- vision
- advanced sensors : gyros, inclination, force, slip.
- advanced controllers : microcontroller, DSP
- speech recognition
- AI

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Actuation in robots/Numerical Control in
Micro domain

Size Effect ??

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Third generation robots 1990 - 2000

New materials – smart materials, smart actuators.

Interest in emulating biological design

paradigms.

New areas like:

Micro, Nano-robotics, Vision, bio-robotics, etc.

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Other ways of classifying robots
Parallel robot and serial arm robot

Mobile robot and stationary arm robot

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Industrial robot and social robot

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

 Future robots --- ????
Bio-robotics: emulating biology, Micro, Nano.
Exoskeletons: wearable devices.
Neuro robotics: cyborgs, aneroids.
Robotic drugs : nano robots for curing diseases,
surgery.
Assistive / Rehabilitation robotics.
Outer space / nuclear applications
Defense: soldier, autonomous armaments.
Replacement of body functions: artificial muscles.
IOT, CPS
????
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Future ?? 2016 –
Micro robot ‘drugs’ to cure diseases

Fig. Killing viruses or bacteria

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Micro – Robot Surgeon for bypass surgery!

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Micro-robot Dentist !

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Micro Robotic Hair Cut !

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

 Hand with no joints : Artificial muscles

Five finger hand with artificial muscles (EAP)

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

 Snake, bird made of artificial muscles

Emulating biology

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Robots for rehabilitation

Fig. HAL (Human assistive locomotion) Univ. of Tsukuba, Japan

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Recover after surgery or stroke

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Autonomous transport

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Happy robot or sad robot ??

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Brain Computer Interfaces

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Automatic road tracking

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Driver tracking

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Robotics and AI - movies??

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

What is AI?

Systems that think like Systems that think

humans rationally

Systems that act like Systems that act

humans rationally

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

AI prehistory

Philosophy (from -350, Aristotle)

foundations of learning, language, rationality

Mathematics (from 825, Al-Khw¯arizm¯ı)

formal logics, proof theory
algorithms, computation, (un)decidability, (in)tractability
Probability

Economics (from 1776, Adam Smith)

Utility, rational decision theory, Operation research, ...
50
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA /
AI prehistory (cont.)

Computer Science (from 1940,

Stibitz)
Neuroscience (from 1861
r
Broca)
Control theory (from 1948,
Wiener)
Psychology (from 1879,
Wundt) Linguistics (from 1957, Chomsky)

Robotics (1970 , Rodny Brooks)

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
What is Artificial Intelligence?

•What is artificial intelligence?

It is the science and engineering of making intelligent
machines, especially intelligent computer programs. It is
related to the similar task of using computers to understand
human intelligence, but AI does not have to confine itself to
methods that are biologically observable.

•Yes, but what is intelligence?

Intelligence is the computational part of the ability to achieve
goals in the world. Varying kinds and degrees of intelligence
occur in people, many animals and some machines.

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

• Isn't there a solid definition of intelligence that
doesn't depend on relating it to human
intelligence?

Not yet.

The problem is that we cannot yet characterize in general

what kinds of computational procedures we want to
call intelligent. We understand some of the
mechanisms of intelligence and not others.

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

What about machines checking if we are human?
CAPTCHA

What humans can do,

But computers can not.

“Completely Automated Public

Turing Test to Tell Computers
and Humans Apart“
What kinds of CAPTCHAS exist?

Gimpy – a text-based CAPTCHA

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Automobile industry: Autonomous cars 18

Characteristics of industrial revolutions:

The vendor change
Apple Inc.

first sightings of the iCar (?)

in New York and San
latest version of Google’s self Francisco (16.2.2015)
driving car (Huffington Post,
28.5.2014)

Nevada issued Google a license:

the world's first driverless car to Car specialists? –
Ford 021C concept car
drive on public streets (2012) No. Connectivity 2012, designed by
& data Newson now at Apple
specialists. (1999)

around 1750 around 1900 around 1970 today

1st industrial Power revolution Digital revolution Information
revolution Centralized electric power Digital computing and revolution
Mechanical production infrastructure; mass production communication technology, Everybody and everything
systematically using the by division of labor enhancing systems’ intelligence is networked – networked
power of water and steam information as a “huge
brain”

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Leading to: Interdisciplinary science and education 12

Antropo- morphism
Uncanny valley

Natural
Social Robotics Automated driving
language
communicatio Lightweight robots
Virtual reality
n Human-
Augmente Machine Autonomous
Interaction systems
d New Autonomou
reality fields s flying

of
Smart Logistics
work
Business
Computing
Cloud logistics
Swarm robotics
Autonomouos
… ? … Riscanalysis
intralogistics
DataAnalysics
Car2X

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Robots and Education

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Quadruped – Big Dog

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Biped - Atlas

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Ethics , laws etc.

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Lastly we need to remember:

One robot can do the task of a hundred men but a

hundred robots cannot do the task of one
extraordinary man.

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

 Robot Joints and
work volume

Dr. Ashish Dutta

Professor, Dept. of Mechanical Engineering
IIT Kanpur, INDIA
Robot arm = links + joints + sensors +
actuators
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
DOF ?
Degrees of Freedom of a rigid body , freely floating
in space.

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Prismatic joint : DOF 1

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Revolute (DOF 1) / Cylindrical joint (DOF 2)

Fig. Revolute Fig. Cylindrical

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Spherical joint : DOF 3

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Work Volume

How many DOF must a robot have – it depends on

the task .

Work Volume: Volume inside which the robot can

position its gripper.

The job to be performed must be inside the work

volume.

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Pick up an object from the table –
how many DOF ?

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Cartesian robot

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Cylindrical robot

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

2 DOF planer arm

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Articulated

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

SCARA

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

How to decide

What should be the link lengths of a robot? (

what are the link lengths for humans ??)

Link velocities during control ??

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Position and Orientation of end effector

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA

Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Transformations

Dr. Ashish Dutta

Professor, Dept. of Mechanical Engineering
IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA
Dr. Ashish Dutta , Dept. of Mechanical Engg., IIT Kanpur, INDIA