NEW MANSOURA UNIVERSITY

Robot Design
Dr. Mohammed Alrahmawy
 LECTURE 1
INTRODUCTION
 What is Robotics?
 What is A Robot?
 Robot Operations
 Classifications of Robots
 A- Purpose of Use
 B- Autonomy
 C- Locomotion
 D- Control
 Intelligent Robotics
 What is an Intelligent Robot?
 Basic Robot Components
 Basic Robot Concerns
 Robot basic Operations
 Humans vs. Robots 2

 Robots vs. xbots

WHAT IS ROBOTICS?

 Robotics is an interdisciplinary field that

integrates computer science and engineering
in order to design, construct, operate, and use
machines called robots that substitute for (or
replicate) human actions.
 Robotics integrates fields of mechanical
engineering, electrical engineering, information
engineering, mechatronics, electronics, bioengi
neering, computer engineering, control
engineering, software engineering,Embedded
Systems, mathematics, etc.

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WHAT IS A ROBOT?
 A robot is…

 A robot can be defined as a computercontrolled machine with some degrees of freedom, that is, the ability to
move about in its environment
 “An active artificial agent whose environment is the physical world”
--Russell and Norvig

 “A programmable, multifunction manipulator designed to move material, parts, tools or specific devices
through variable programmed motions for the performance of a variety of tasks”
--Robot Institute of America

 A robot is the product of the robotics field, where programmable machines are built that can assist humans or
mimic human actions.
 An electromechanical device that is reprogrammable, multifunctional and sensible for environment.
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ROBOT OPERATIONS
 Dangerous
 Space exploration
 Chemical/nuclear spill cleanup
 disarming bombs
 disaster cleanup

 Boring and/or repetitive

 Welding car frames
 part pick and place
 manufacturing parts.

 High precision or high speed

 Electronics testing
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 Surgery
 precision machining
 EXAMPLE ROBOT OPERATIONS
A- MANIPULATORS

Welding Robot The Scrubmate Robot

Repetitive jobs that are boring, stressful, or Manual tasks that human don’t
labor-intensive for humans want to do

Decontaminating Robot
Cleaning the main circulating pump
housing in the nuclear power plant

The Surgical Robot

Remote Surgeries
EXAMPLE ROBOT OPERATIONS

B- MOBILE ROBOTS

Actroid Robot Mars Exploration Rover MQ-1 Predator Toy Robot

Do some human-like Explore Mars and collect Do aerial survey Has some animal-like
operations, e.g. talk, samples, capture images, operations and used in behaviour and used as a
walk, ... Etc. analyze environment, …etc. military for flight attacks. toy.
CLASSIFICATIONS OF ROBOTS
A- PURPOSE OF USE

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CLASSIFICATIONS OF ROBOTS
B- BEHAVIOUR AUTONOMY

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CLASSIFICATIONS OF ROBOTS
C- LOCOMOTION SYSTEM

 Fixed Robots: e.g. Manipulators

 Legged Robots.
 One-legged: e.g. Berkeley's SALTO
 Two-legged: e.g. The ASIMO toy robot
 4-legged: e.g. Quadrupedal "BigDog” Manipulator Wheeled Robot

 6-legged: e.g. The Hexbug toy

 Wheeled Robots
 One-wheeled: e.g. Self-balancing unicycle Legged Robot
 Two-Wheeled: e.g. Self-balancing bicycle
 Four-wheeled: e.g. Self driving cars
 Flying Robots: e.g. Self Autonomous Underwater Unmanned Aerial
 Diving Robots: e.g. ROV, AUV Vehicle Vehicle

 Others: Snaking, Skating, Climbing,

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Tracked
CLASSIFICATIONS OF ROBOTS
D- CONTROL SYSTEM
1. Teleoperation. A human operator remotely send commands to their actuators to control each movement of the robot.
 Robotic Surgery. The surgeon uses a tele-manipulator to perform the normal movements associated with the surgery using
a robotic arms that performs accordingly those movements using end-effectors and manipulators to perform the actual surgery.
2. Supervisory. A human operator specifies a set of general moves or position changes, where the decisions of actuators
movements are decided by the machine.
 Neurosurgical robots. The surgeon makes the high-level decisions, which are then autonomously performed by
the robot.
3. Task-level autonomy. The human operator only specifies the task and the robot manage to complete it in the best way.
 Self-Driving Car. The rider specified the destination address, then the car makes the high-level decisions to find
the best path and drive through it.
4. Autonomous Robots. The machine operation is human-independent, i.e.it analyzes its state and its environment and
make decisions to create tasks and complete them without human interaction.
 Humanoid Robots. They that look like and/or mimic human behavior and perform human-like activities (like walking, running,
jumping, talking and carrying objects)
 Augmenting robots. They are advanced autonomous robots that can either enhance current human capabilities or replace the
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capabilities a human may have lost. Some examples of current augmenting robots are robotic prosthetic limbs or exoskeletons
used to lift hefty weights.
INTELLIGENT ROBOTICS

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WHAT IS AN INTELLIGENT ROBOT?

 An agent is a system that is situated in some environment and is capable of

autonomous action in this environment in order to meet its delegated objectives.
 A Robot is an Agent-based machine that is able to extract information from its
environment and use knowledge about its world to move safely in a meaningful
manner.
 The fundamental question for a robot is what action(s) to take for a given state of the
environment.

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BASIC ROBOT COMPONENTS
 Sensors :
 used to collect information about the internal state of the robot or to communicate with the outside environment.
 Robots are often equipped with external sensory devices such as a vision system, touch and tactile sensors etc which
help to communicate with the environment
 Examples: lidar, radar, and sonar sensors. Touch Tactile sensors. Image sensor for visible-light and/or infra-red light
vision
 Actuators:
 are the muscles of the manipulators.
 Common types of actuators are servomotors, stepper motors, pneumatic cylinders etc.
 Examples: Electric and Piezo motors, Linear (pneumatic, hydraulic) actuators, Pneumatic artificial muscles

 Controller and Manipulator:

 manipulation refers to an agent’s control of its environment through selective contact (end-effector)
 receives data from the computer,
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 controls the motions of the actuator and

 coordinates these motions with the sensory feedback information.
ROBOT CONCERNS
 A robot typically has
 Sensors to sense its environment, particularly to avoid any obstacles in its way.
 Goals that specify the purpose of using it.
 Planning to determine the best ways to accomplish the robot goals
 some robots are pre-programmed with the plan steps to carry out the given goals so planning is not needed
 Path planning to determine how to move about its environment using the available degrees of
freedom
 E.g. An arm of a manipulator can move to pick something directly in a single movement, or it may be done
as a series of movements to physically move to the target.

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ROBOT BASIC OPERATIONS
 The robot usually has a 3-phase sequence of operations:
 Sense (Perception),
 Process (interpretation and Planning),
 Action (Controlled movement of some kind)

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HUMANS VS. ROBOTS

People Robots
Bones Mechanical Structure

Muscles Effectors

Senses Sensors

Digestion/Respiration AC/DC Power

Brain Computer

Knowledge Program 17
ROBOTS VS. OTHER X-BOTS
 Robot is an active, artificial agent whose environment is the physical world
 Soft Robots. Usually, they are robots that use soft computing approaches (e.g., fuzzy
logic, neural networks)
 A softbot is a pure software agent whose environment consists of computer file
systems, databases, and networks. They usually, have some degrees of freedom (the
ability to move) or even communicate over networks
 Microsoft Office Helper, Game Agents, Web Crawlers, Expert Systems, chatbots.

 Mimicking Robot. Robots that learn by mimicking, e.g. robots that learn facial
gestures or those that learn to touch or walk or play with children.
 Nanobot. Robots that are ~50–100 nm wide and can carry out a very specific 18

function (e.g. drug delivery) in a microscopic environment.

PHYSICAL ENVIRONMENT OF ROBOTS
The Real World is A Harsh Place
 Inaccessible
 near by stimuli, limited attention, imperfect sensors
 Non-deterministic
 Robot structure and dynamics, environment
 Dynamic
 Changes happening as decisions are made
 Continuous
 The worlds is not a set of discrete events

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 PHYSICAL ENVIRONMENT OF ROBOTS
Dealing with the Physical World
A robot needs to be able to handle its environment or the environment must be altered and controlled.
 Close World Assumption
 The robot knows everything relevant
 no surprises
 Open World Assumption
 The robot must be able to handle unexpected events.

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 HUMAN-ROBOT INTERACTION
 If robots are to work effectively in homes and other non-industrial environments, the way they are
instructed to perform their jobs, and especially how they will be told to stop will be of critical importance.
 The people who interact with them may have little or no training in robotics, and so any interface will need
to be extremely intuitive.
 Acceptance of social robots is also likely to increase if people can meet a social robot under appropriate
conditions.
 Studies have shown that interacting with a robot by looking at, touching, or even imagining interacting
with the robot can reduce negative feelings that some people have about robots before interacting with
them.

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 HUMAN-ROBOT INTERACTION (HRI)
SUPPORTED HRI FACILITIES
 Speech recognition: With the help of AI, robots can use people's voice to identify their emotions such as satisfied or angry.
However, it is a difficult computing task because of the great variability of speech.
 Robotic voice: Allowing the robot to use voice for interacting with humans can greatly ease the interaction. However, for
social reasons, using synthetic voice proves suboptimal as a communication medium, making it necessary to develop the
emotional component of robotic voice through specific techniques.
 Gestures: making hand gestures would aid many of the verbal descriptions made by robots to humans.
 Facial expression: Facial expressions can be considered to provide rapid feedback on the progress of a dialog between a
human and a robot.
 Artificial emotions: Artificial emotions can also be generated, composed of a sequence of facial expressions or gestures.
However, the programming of these artificial emotions is complex and requires a large amount of human observation
 Personality: Some advanced robots use sounds, facial expressions, and body language to try to convey an internal state,
which may be joy, sadness, or fear.
 Social intelligence: A social robot can learn tasks and goals from human demonstrations without prior knowledge of high-
level concepts. These new concepts are grounded from low-level continuous sensor data through unsupervised learning, and 22
task goals are subsequently learned using a Bayesian approach. These concepts can be used to transfer knowledge to future
tasks, resulting in faster learning of those tasks.
THANK YOU

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