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Lecture 2 PDF

The document traces the history of robotics from 18th century automatons through developments in industrial robots in the 1970s-1980s and modern service robots. It discusses key milestones like early robot arms, Honda's ASIMO, the Da Vinci surgical system, Amazon's Kiva warehouse robots, and Baxter and variable impedance actuators that allow for safer human-robot interaction. The document outlines progress in robot design, applications in assembly, logistics, surgery and service domains.

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Vincent lui
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Download as PDF, TXT or read online on Scribd
68 views

Lecture 2 PDF

The document traces the history of robotics from 18th century automatons through developments in industrial robots in the 1970s-1980s and modern service robots. It discusses key milestones like early robot arms, Honda's ASIMO, the Da Vinci surgical system, Amazon's Kiva warehouse robots, and Baxter and variable impedance actuators that allow for safer human-robot interaction. The document outlines progress in robot design, applications in assembly, logistics, surgery and service domains.

Uploaded by

Vincent lui
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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A short history of robotics

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Jaquet-Drozs Automata, 1768-1774

the musician
the draughtsman
the writer

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The early stages 1973-1984

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Industrial robots

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LWR-III at Daimler-Benz

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Robotic Co-worker

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Stanford’s Stanely

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Sociable robots

MIT’s MDS

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Service robots

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Service robots forecast, professional

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Service robots forecast, domestic

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Wendy: Sugano Lab

Wendy Properties
1 Compliant joints in the arm

2 Mechanical Impedance
Adjuster (MIA)
3 Adjust impedance before
the task (slow)

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Twendy-One

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Honda’s Asimo

Asimo running at 6 km/h

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Service robots

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HRP-2

HRP-2: equipped with incremental encoders, force/torque sensors, gyro . . .


Application: Assembling a panel

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The Barrett WAMTM Arm

Barrett WAMTM Arm:


7DOF - 25kg - backdrivable - LWR=0.16

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The Da Vinci System

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Kiva System

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Baxter

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Variable Impedance Actuators

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Elastic Robots

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