INTRODUCTION TO ROBOTICS

Robotics is the branch of engineering and science that deals with the design, construction, operation,
and use of robots. Robots can perform tasks autonomously (acting independently or having the ability to
self-govern) or semi-autonomously and are often employed in environments where human intervention
may be impractical or dangerous.

CATEGORIES OF ROBOTS
Most of today robots fall in 3 categories:

 Manipulators- Also called robot arms, they are physically anchored to their workplace, for
example in a factory assembly line or on the International Space Station. Manipulator motion
usually involves a chain of controllable joints, enabling such robots to place their effectors in any
position within the workplace. Some mobile manipulators are used in hospitals to assist
surgeons. Few car manufacturers could survive without robotic manipulators, and some
manipulators have even been used to generate original artwork.
 Mobile robots- Move about their environment using wheels, legs, or similar mechanisms. They
have been put to use delivering food in hospitals, moving containers at loading docks, and
similar tasks. Unmanned ground vehicles, or UGVs, drive autonomously on streets, highways,
and off-road. Other types of mobile robots include unmanned air vehicles (UAVs), commonly
used for surveillance, crop-spraying, and military operations. Autonomous underwater vehicles
(AUVs) are used in deep sea exploration. Mobile robots deliver packages in the workplace and
vacuum the floors at home.
 Mobile manipulator- Humanoid robots mimic the human torso. Mobile manipulators can apply
their effectors further afield than anchored manipulators can, but their task is made harder
because they don’t have the rigidity that the anchor provides.

2. Core Components of Robotics

 Mechanical Structure: The physical body of the robot, which may include arms, wheels, or legs.

 Sensors: Devices that detect changes in the environment. Common sensors include:

o Proximity Sensors: Detect objects nearby.

o Cameras: Provide visual input for image processing tasks.

o LiDAR: Measures distances using laser light, useful for mapping and navigation.

 Actuators: Motors and servos that move the robot's parts.

 Control System: The "brain" of the robot that processes sensor data and makes decisions based
on programmed algorithms.

3. AI Concepts in Robotics

3.1 Perception

 Computer Vision: Techniques for interpreting visual data from the environment. AIMA(the book)
discusses image processing methods, which can be applied to robot vision systems.
  Sensors

What are sensors? Sensors are the perceptual interface between robot and environment. There
are active sensors and passive. Passive sensors, such as cameras, are true observers of the
environment: they capture signals that are generated by other sources in the environment.
Active sensors, such as sonar, send energy into the environment. They rely on the fact that this
energy is reflected back to the sensor. Active sensors tend to provide more information than
passive sensors, but at the expense of increased power consumption and with a danger of
interference when multiple active sensors are used at the same time.

There are 3 major categories of sensors depending on whether they sense the environment, the robot’s
location, or the robot’s internal configuration. Range finders measure the distance to nearby objects
however, they seized to be used and were replaced by optical range finders which send active signals
(light) and measure the time until a reflection of this signal arrives back at the sensor. Radar sensors fall
also in the range finders category and they can measure distances of multiple kilometers .On the other
hand, there are tactical sensors which measure range based on physical contact.

location sensors are like GPS which ya’ll know. GPS measures the distance to satellites that emit pulsed
signals.

proprioceptive sensors -Informs the robot of its own motion. (that brings us to sensor fusion)

 Sensor Fusion: Integrating data from multiple sensors to create a comprehensive understanding
of the environment.

3.2 Planning

 Path Planning: Algorithms like A* and Dijkstra's are critical for navigation tasks. AIMA provides
detailed explanations of these search algorithms, which can be applied to determine the optimal
route for a robot.

3.3 Learning

 Reinforcement Learning: A key area where robots learn from interactions with their
environment. Concepts from AIMA on Markov Decision Processes (MDPs) and Q-learning can
guide the development of learning algorithms for robotic applications.

4. Robotics Frameworks and Architectures

4.1 Robot Operating System (ROS)

 Introduction to ROS: A flexible framework for writing robot software. It provides services like
hardware abstraction, low-level device control, and implementation of commonly used
functionality.

4.2 Behavior-Based Robotics

 Focuses on building robots that exhibit complex behaviors through simple, reactive rules. AIMA
covers the principles of behavior-based systems that can be adapted for robotic
implementations.
5. Key Applications of Robotics

 Industrial Robotics: Automating manufacturing processes (e.g., assembly lines).

 Autonomous Vehicles: Self-driving cars that use AI for navigation and decision-making.

 Service Robotics: Robots assisting in tasks like cleaning (e.g., Roomba) or delivery (e.g.,
autonomous drones).

 Medical Robotics: Robots that assist in surgeries or rehabilitation.

6. Ethics and Challenges in Robotics

 Safety: Ensuring robots operate safely in environments shared with humans.

 Ethical Considerations: The implications of deploying robots in various sectors, including military
applications and surveillance.

 Job Displacement: The impact of automation on employment and the economy.