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    Lec10 PDF

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    JosephKuo
    The document discusses the basic components of robots including batteries or power sources, computers or brains, propulsion systems like wheels or legs, and sensors both passive like cameras and active like infrared and sonar. Newer robots also have additional features like more specialized sensors, GPS, arms, and grippers. Batteries are an important but heavy component that limits robot capabilities. Robots intended to work closely with humans prioritize safety over additional features. Mobile robots can move using wheels, legs, propellers, rolling, snake-like motion, or floating. The document provides examples of delivery robots, self-driving cars, legged robots, robots on the International Space Station, and guard robots.

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    Lec10 PDF

    Uploaded by

    JosephKuo
    16 views2 pages
    The document discusses the basic components of robots including batteries or power sources, computers or brains, propulsion systems like wheels or legs, and sensors both passive like cameras and active like infrared and sonar. Newer robots also have additional features like more specialized sensors, GPS, arms, and grippers. Batteries are an important but heavy component that limits robot capabilities. Robots intended to work closely with humans prioritize safety over additional features. Mobile robots can move using wheels, legs, propellers, rolling, snake-like motion, or floating. The document provides examples of delivery robots, self-driving cars, legged robots, robots on the International Space Station, and guard robots.

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    The document discusses the basic components of robots including batteries or power sources, computers or brains, propulsion systems like wheels or legs, and sensors both passive like cameras and active like infrared and sonar. Newer robots also have additional features like more specialized sensors, GPS, arms, and grippers. Batteries are an important but heavy component that limits robot capabilities. Robots intended to work closely with humans prioritize safety over additional features. Mobile robots can move using wheels, legs, propellers, rolling, snake-like motion, or floating. The document provides examples of delivery robots, self-driving cars, legged robots, robots on the International Space Station, and guard robots.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    16 views2 pages

    Lec10 PDF

    Uploaded by

    JosephKuo
    The document discusses the basic components of robots including batteries or power sources, computers or brains, propulsion systems like wheels or legs, and sensors both passive like cameras and active like infrared and sonar. Newer robots also have additional features like more specialized sensors, GPS, arms, and grippers. Batteries are an important but heavy component that limits robot capabilities. Robots intended to work closely with humans prioritize safety over additional features. Mobile robots can move using wheels, legs, propellers, rolling, snake-like motion, or floating. The document provides examples of delivery robots, self-driving cars, legged robots, robots on the International Space Station, and guard robots.

    Copyright:

    © All Rights Reserved
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    of 2

    9/17/2020 CS440 Lectures

    CS 440/ECE 448
    Fall 2020
    Margaret Fleck
    Robot planning 1

    (from Wikipedia)

    Parts of a robot
    Even though Shakey was built 50 years ago, it still had the basic components of a mobile robot. That is:

    battery (or power cord) and motors


    brain (aka computer)
    on-board
    off-board via radio link or control cable
    propulsion (wheels)
    long-distance sensors
    passive, e.g. cameras
    active e.g. IR, sonar
    touch sensors (bumpers, whiskers)

    Newer robots may also have features like

    more types of sensors


    special-purpose (e.g. has cutter penetrated skin)
    GPS
    legs
    arms, grippers (with force feedback and "skin")

    Batteries are a surprisingly critical part of the design. Even now, they are heavy compared to how much power they deliver. So they can be a
    significant percentage of the robot's weight.

    A robot usually has several redundant sensors because they fail in different ways, e.g. whiskers operate only at very short distances, IR sensors fail
    on dark surfaces.

    There is a tradeoff between extra features and better safety. Robots working close to humans have to be less ambitious so that they are more reliably
    safe.

    Mobile robots
    How does it move?

    wheels
    legs
    propellers (flying, underwater)
    rolling
    snake-like motion
    floats in space (e.g. on the International Space Station)

    https://courses.grainger.illinois.edu/cs440/fa2020/lectures/robots1.html 1/2
    9/17/2020 CS440 Lectures

    Food delivery robot from Techcrunch May


    26, 2018
    Waymo (Google) self-driving car legged robot from ETH Zurich

    Cimon floating on the ISS from NBC


    Guard robot from The Telegraph
    Snakebot from NASA

    Cool videos
    Robots generate the best videos in the field.

    CMU snake robot climbs a tree

    Guardbot

    Legged robots (Marc Raibert and Boston Dynamics): early ones and newish humanoid one

    Google self-driving bike (fake)

    https://courses.grainger.illinois.edu/cs440/fa2020/lectures/robots1.html 2/2

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