Robotics

Nithish D Uddisapu Ashritha Anniruddh Guptha Aayush G

Department of Basic Science Department of CSE-CY Department of CSE-CY Department of CSE-CY
Asst. Professor 1VE24CY044 1VE24CY007 1VE24CY001
SVCE SVCE SVCE SVCE
Bangalore, India Bangalore, India Bangalore, India Bangalore, India
[email protected] [email protected] [email protected]

The Importance of Physics in Robotics: 1. Introduction

Foundations for Intelligent Machines • Robotics is a branch of engineering and computer
science that focuses on the concept, design,
Abstract production, and operation of robots. The primary
To ensure that the world develops rapidly, the goal of robotics is to create intelligent machines
dependence on machines in the sectors depends on that can assist humans in various ways.
agriculture, industry, security, security and military • Physics acts as a vital bridge between the abstract
operations to continue to the end. With the help of world of robotic theory and the substantial reality
smart technology, from South Korea, Singapore and of robotic applications. By inculcating and
Switzerland, the robots are getting more and more adapting the Physics-based simulation, the
fused to reduce the human efforts and enhance the robots could be taught, tested and evaluated in
efficiency of the robots. While the level of robot the virtual environment that closely resemble the
integration varies by region and technology, the real-world situations and making sure that their
trend is clear: robots are expanding into different designs and algorithms are tough and durable,
sectors and the demand for automated solutions is even when they come across unexpected
growing domestically. The characteristics of challenges. Some of the practical illustrations of
different robot models may vary, but they have physics are
common features 1. Simulations for Training and Verification:
Physics-based simulators using RoboLogics
This article explains the fundamentals of materials facilitate realistic simulations of robot motion,
related to mechanics, electromagnetism, sensors, and interaction with the environment, and sensor
robotics. It also explores how sensors help robots data.
effectively interact with their environment, maintain 2. Realistic Modeling: Physics-based models in
balance, and perform complex movements. Thanks simulations take into account the factors such as
to the principles of physics, robots can be trained mass, velocity, friction, and gravity. This
more effectively, operate more efficiently, and be provides a more accurate representation of how
more stable and user-friendly. the robot behaves in different environments.
3. Data Generation for AI: Physical simulations
can generate large datasets that can be used to
 train and test AI models, especially for robots feeds into dynamic models and finally the
that rely on machine learning for decision- efficiency and safety where for mobile robots,
making. controlling the wheel speeds (similar to joint
4. Safety and Cost-Effectiveness: Simulations speeds) is crucial for stable navigation.
allow for safe and cost-effective testing of • Forward Kinematics: Forward kinematics
robotic prototypes, as they avoid the physical calculates the placement and alignment of a
damage and costs associated with repeated robot's end-effector given its joint parameters.
physical testing. This is regularly used in simulation and motion
5. Bridging the Reality Gap: By inculcating planning.
physical principles into simulations, researchers • Inverse Kinematics: Inverse kinematics is an
can connect theoretical models to real-world inverse problem: given a desired end-effector
applications, ensuring that robots can pose (position and orientation), calculate the joint
effectively perform their intended tasks in parameters needed to achieve it. Inverse
complex and unpredictable environments. kinematics is essential for tasks such as selection
and location: given the location of a target, the
2. Motion and Mechanics: Kinematics & controller uses inverse kinematics to determine
Dynamics the required joint angles.
• Kinematics: It describes the possible movements
(positions, velocities, accelerations) of a robot's 3. Forces, Torque, and Balance
joints based solely on the geometry of its joints • Joint Torque Generation: Torque plays a central
and the joint parameters. role in powering robotic joints that allow limbs
• Dynamics: Involves the study of the forces, like arms and legs to make rotational movements.
torques, and inertial properties that produce • Moment of Inertia: Mass distribution around an
motion. It combines Newton's laws with axis impacts resistance to rotation, hence directly
kinematic constraints to calculate the required affecting the robot’s agility and energy
actuator forces and torques. efficiency.
• Understanding joint variables is crucial for: • Angular Acceleration: The angular acceleration
Workspace and reachability where the of change in angular velocity decides the speed
calculation of joint configurations defines the and responsiveness of robotic rotational
robot's workspace; trajectory and collision movements, with a bearing on overall
planning where the accurate kinematic analysis performance.
helps predict whether a planned movement will
collide with the environment or violate joint 4. Electromagnetism in Robotics
limits; control and dynamics integration where • Electromagnetic principles such as magnetic
velocity along with the acceleration information fields and electromagnetic waves are the basis for
 initiation, sensing, communication, and energy 6. Sensors, Signals, and Control Systems
transfer in robotics. • Robotic Sensors are used to evaluate the robot's
• Electrical actuators convert electrical energy into current status and its environment. The sensors
mechanical motion using electromagnetic transmit the electronic signals to the robots in
concepts. order to execute the required actions. Robots
• For example: Electric motors (DC, stepper, require suitable sensors that will help them to
servo) that are usually used for rotary motion, control themselves. There is an availability of a
Shape memory alloys (SMAs) and wide mix of sensors available in the market. The
electromechanical actuators which provide most commonly used proximity sensors include:
condensed and exact control, soft actuators • IR Sensors : These sensors spots/finds the objects
which includes the dielectric elastomers and or obstacles by using the IR light. These can
IPMCs allow an interactive and nature-inspired measure the distance but with less and limited
motion. accuracy.

• Encoders and magnetic field sensors record the • Ultrasonic: They create sound waves of high
position and velocity. IMUs, tactile sensors, and frequency. An echo confirms the presence of an
vision systems uses electromagnetic feedback for obstacle.
navigation and operating • Photoresistor: These are the kind of sensors that

• Electromagnetic devices deal with metallic or varies the light intensity depending on the

delicate objects without direct mechanical resistance given. More intensity of light is

contact, increases correctness and neatness. produced when the resistance offered is low.

• Electromagnetic brakes and locks protect robotic They are reciprocally related.
• LiDAR (Light Detection and Ranging): It
limbs or tools during procedure or power cuts.
measures the distance using the laser light.
• Feedback control systems: These systems
compare the actual output of the robot (such as
position or speed) with the desired output and
then automatically adjust it using sensors.
• Signal Processing: Sensor data (raw signals) is
often noisy. Signal processing cleans, amplifies,
and filters it so that the robot can understand and
respond correctly.

Figure 1: EMF induced over time due to changing • In robotic sensors: Sensors provide real-time
magnetic flux, as described by Faraday’s Law—core information (light, sound, temperature, distance).
to many robotic sensors and systems. This data goes through signal processing, then
 feedback control uses it to make decisions and
adjust actions in real time. 7. Simulation and Physics-Based Modeling
• Simulation in robotics means creating a virtual,
physics-driven model of a robot and its
6. Friction, Materials, and Surface Interaction environment to mimic real-world behavior.
• Friction controls grip strength and stability of • Modern simulators use robust physics engines
locomotion, impacting how robots move, climb, (e.g., Bullet, ODE, PhysX) to calculate forces,
or grasp objects. (Source: Phys.org) collisions, and sensor response. By utilizing tools
Inconsistent or low friction causes slippage, like Gazebo, MuJoCo, PyBullet, and Webots,
which can decrease precision, particularly for engineers can create realistic virtual experiments.
mobile robots or robotic arms. • Virtual environments greatly reduce cost and risk
• The surface topography of robot components and in the development cycle. A simulated model is
terrain influences contact mechanics, changing fast and cost-free. In simulation, complex and
both friction and wear. dangerous scenarios can be tested safely.
• Grippers and manipulators place great reliance Simulations are cost-effective and safe for
on optimized friction to firmly grasp, lift, and identifying edge cases such as sensor failures or
manipulate objects without causing them to fall. unexpected obstacles without causing damage

• Materials need to balance between strength, to physical systems.

weight, and flexibility, being durable yet using • In summary, virtual prototyping reduces the cost

least energy. and time, improves safety, enables rapid

• Such as silicone or TPU are utilized in grippers iteration, and supports edge-case testing.

and robotic skins to replicate human touch and • Reinforcement Learning (RL) is greatly

enhance surface conformity. benefitted from the simulation, as training an RL

• Energy efficiency is influenced by friction since policy on a real robot can require millions of

high-friction surfaces provide greater resistance trials, which is time-consuming and possibly

and energy usage during locomotion. harmful. Simulated environments offer a safer,
faster, and parallelizable alternative, allowing an
• Material design must include surface wear and
RL agent to repeatedly reset and explore virtual
tear, particularly for robots in industrial or
tasks. This enables rapid trial-and-error learning
outdoor settings.
at an accelerated pace.
• New materials and coatings (such as carbon fiber
• All these capabilities together make physics-
or anti-slip composites) are being used to
based simulation an indispensable tool in modern
improve grip, minimize drag, and increase
robotics.
operational lifespan.
 movement, better stability, and faster
convergence.
• Applied research demonstrates that the balance
or the consistency of such PID loops is governed
by the inertial parameters like mass, centre of
mass and moment of inertia of the robot.
Figure 2: 1D motion simulation showing position, velocity and
acceleration over time for a robot under constant acceleration.

8. PID Controllers
• Proportional–Integral–Derivative (PID) s

controllers are the simple control systems or the

feedback systems that are often used in robotics
to help control and coordinate movements.
• They continuously calculate the
frequency/probability of errors, accumulates the Figure 3: PID-controlled system response showing output (blue)
tracking the setpoint (dashed red). Simulated using Python and
previous errors and predict the future errors
Matplotlib.
based on the current rate of change of error.
• P – The proportional term is directly proportional
to the current produced error. It provides instant 9. Conclusion

feedback on how far the target is from the system. Physics plays a very crucial role in robotics
influencing everything from the motion and force,
• I – The integral term considers all the previous
till the sensor feedback and system stability. This
errors over time. It helps in correcting the minor
research has showcased how the principles like
and residual errors that the proportional term
kinematics, dynamics, electromagnetism, and
alone cannot resolve.
material interaction play a critical role in for
• D – The derivative term predicts the future
designing, developing and understanding the robotic
behaviour of the robot by observing how quickly
systems. This research also demonstrates the need
the error changes and introduces a damping
for precise physical understanding for reliable and
effect to enhance the system stability.
efficient robotic performance. As robotics continues
• Understanding Newtonian mechanics – inertia,
to evolve, innovations will constantly depend on the
momentum, force balance, friction – is important
harmonious fusion of these fields. As we progress,
for establishing and tuning effective PID loops.
the further research must study and explore more on
By grounding the PID design in the dynamics of
advance physics-based modelling in variable
the robot, engineers can achieve more reliable
conditions, adaptive control in dynamic
environments, exploring more into the material https://www.researchgate.net/publication/34
physics in emerging fields like soft robotics. All 6881313_The_Role_of_Physics-
these must be done under proper safety protocols and Based_Simulators_in_Robotics(Wikipedia,
with the sense of social responsibility for the kramirez.net, Automate)
betterment and enhancement of the humankind. 8. Signal Processing
https://en.wikipedia.org/wiki/Signal_process
ing
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