RIME – 816:

Robot Design
Lecture 01: Introduction

01 February 2022 Robotics and Intelligent Systems Engineering (RISE) Lab 1

 Outline:
 My Introduction

 Course Introduction

 Introduction to Robotics

 Your Introduction

01 February 2022 Robotics and Intelligent Systems Engineering (RISE) Lab 2

 Outline:
 My Introduction

 Course Introduction

 Introduction to Robotics

 Your Introduction

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 Instructor:

Dr. Khawaja Fahad Iqbal

Assistant Professor
Department of Robotics and Artificial
Intelligence, SMME, NUST.

Office: 318F, SMME Main Building.

Email: [email protected]

Class will be held on Tuesdays

@ 1700-2000hrs in CR-308.

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 PhD (Robotics) 2017-2021
Institute: Tohoku University, Japan.

Scholarship: Japanese Government MEXT Scholarship.

Thesis Topic: Motion Planning for Collaborative

Robots Using HRI-based Cost Function.

Funding: Toyota, Japan.

Supervisors: Dr. Kazuhiro Kosuge, Dr. Yasuhisa Hirata. The robot provides assistance
to a factory worker
Key Areas: Human-Robot Interaction (HRI),
Collaborative Robots, Motion Planning, Robot Control.

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 MS (Bioengineering and Robotics) 2015-2017
Institute: Tohoku University, Japan.

Scholarship: Japanese Government MEXT Scholarship.

Thesis Topic: Assembly Planning Using Rapidly

Exploring Random Trees (RRT) Method.

Funding: DENSO, Japan.

Supervisors: Dr. Kazuhiro Kosuge, Dr. Shogo Arai.

The robot performs
Key Areas: Assembly Planning, Motion Planning, peg-in-a-hole
assembly problem
Industrial Robots.

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 BE (Mechatronics Engineering) 2007-2011
Institute: College of E&ME, NUST.

Scholarship: NUST High Achievers Scholarship.

Thesis Topic: Intelligent DRIving System (IDRIS).

Funding: AFIRM, Rawalpindi, Pakistan.

Supervisors: Dr. Kunwar Faraz, Dr. Yasar Ayaz.

Key Areas: Mobile Robots, Motion Planning, Neural Our algorithm finds the optimal path
between the robot’s current position and
Networks. the goal position.

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 Assistant Professor (SMME, NUST)2021 - Now
Institute:
Department of Robotics and Artificial Intelligence, SMME, NUST.

Courses Taught:
1. Simultaneous Localization and Mapping (RIME-20), Fall 2021.
2. Robotics and Automation (ME-10), Fall 2021.
3. Electrical Engineering (ME-12), Fall 2021.
4. Robot Design (RIME-20), Spring 2022.
5. Electronics Engineering (ME-12) , Spring 2022.

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 Assistant Professor (SMME, NUST)2021 - Now
Project Supervision:
1. Motion Planning for Legged Robots (RIME-20).
2. Collaborative SLAM for Mobile Robots (RIME-20).
3. Designing a Mobile Robot for Delivering Packages in a Warehouse (ME-10).

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 Lab Engineer (SMME, NUST) 2012-2014
Institute:
RISE Lab and Research Center, Department of Robotics and Artificial Intelligence,
SMME, NUST.

Labs Conducted:
1. Logic Design and Microprocessors (ME-02), Spring 2013, with Lec. Jawad Aslam.
2. Electrical Engineering (ME-03), Spring 2013, with Dr. Mohsin Jamil.
3. Computer Systems and Programming (ME-05), Fall 2013, with Dr. Omer Gilani.
4. Mobile Robots (RIME-03), Fall 2013, with Dr. Yasar Ayaz.
5. Engineering Design and Graphics (ChE-06, MtlE-06, from SCME), Spring 2014, with
Lec. Adnan Hanif.
6. Electrical Engineering (ME-04), Spring 2014, with Dr. Umar Ansari.

01 February 2022 Robotics and Intelligent Systems Engineering (RISE) Lab 10

 Lab Engineer (SMME, NUST) 2012-2014
Project Supervision:
1. Design and Development of a Robotic Mannequin (ME-01).
2. Perceptual Aliasing Solutions for Simultaneous Localization and Mapping - SLAM
(BICSE SEECS, batch 2014).
3. Human Tracking and Following for Service Robots (RIME-01).
4. RRT* based Motion Planning for Mobile Robots (EE SEECS, batch 2015).
5. Sakura Wheelchair Project (RIME-02).
6. Robocup Standard Platform League - SPL (CE EME, batch 2014).

01 February 2022 Robotics and Intelligent Systems Engineering (RISE) Lab 11

 Outline:
 My Introduction

 Course Introduction

 Introduction to Robotics

 Your Introduction

01 February 2022 Robotics and Intelligent Systems Engineering (RISE) Lab 12

 Grading Policy:
 Lectures (3 credit hours):

 3x Assignments = 6%

 6x Quizzes (Announced + Surprise) = 9%

 1x Mid-Semester Exam = 30%

 Projects = 10%

 Class Participation = 5%

 End Semester Exam (Paper + Final Project) = 40%

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 Grading Policy:
Class Participation:

 This is a measure of how involved you are in the class.

 I will ask a lot of questions during the lecture. If you

answer these question correctly, you will get class
participation points.

 If you demonstrate a negative attitude towards

learning or cause a disturbance in the class, I will
deduct class participation points.

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 Class Rules
• I will mark the attendance 15-20 minutes after the start of the lecture. Anyone
who arrives after the attendance will be considered absent from the whole lecture.

• Don’t talk amongst yourselves in the class. If you have any question, raise your
hand and ask me.

• When I ask any question in the class, don’t speak out of turn. Raise your hand and
wait for me to get to you.

• If I catch you using your mobile phone during the lecture, then your punishment
will be to bring samosas for the entire class in the next lecture.

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 Course Content
 In this course, we ll learn how to design a wheeled mobile robot.

 The topics that we are going to cover in this course are:

1. Robot Mechanical Design

2. Component Selection

3. Circuit Design

4. Robot Programming

5. Robot Control

6. Robot Motion Planning

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 Some Key Points
 I don’t want you to spend a lot of money on your robot. Keep your projects as
economical as possible.

 The focus of this course is mainly on robot control and AI.

 There is no penalty on using mobile robot kits manufactured by companies such as

Osoyoo, Lafvin, Elegoo etc.

 The projects will be carried out in groups of two students each.

01 February 2022 Robotics and Intelligent Systems Engineering (RISE) Lab 17

 Outline:
 My Introduction

 Course Introduction

 Introduction to Robotics

 Your Introduction

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 Why Do We Need Robots?

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 Why Do We Need Robots?

 Robots are used where the work is too labor

intensive, boring or dangerous for a human being.
 The three D’s of Robotics: Robots perform tasks
that are considered dull, dirty and dangerous
for human beings.
 Robots have a better accuracy, repeatability and
work efficiency than human workers.
 Robots are Cool ! 

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 What is a Robot?

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 What is a Robot?
 There is no standard definition of a Robot.
 Joseph Engelberger, who is considered as the Father of
Robotics, famously said:
"I can't define a robot, but I know one when I see one.”
 As the field of Robotics keeps progressing, new
definitions keep coming up.
 Here is a definition that I like:
“Any automatically operated machine that replaces human
effort, though it may not resemble human beings in
appearance or perform functions in a humanlike manner.“
(Encyclopedia Brittanica)

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 How do we differentiate between
Robots and other machines?

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 Robots vs Machines

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 Characteristics of a Robot
 Electromechanical System

 Reprogrammable

 Multifunctional

 Capable of Learning

 Capable of Sensing its Environment

 Capable of making decisions

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 Robotics is Multi Disciplinary

Mechanics

AI Robot Electronics

Control

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 Components of a Robot
 Power Source: Battery, Solar Cells, Air Pressure, Engine etc.

 Mechanical Structure: Body and Limbs of the robot.

 Actuators: Muscles of the robot. Motors, Pneumatics, Hydraulics

 Sensors: Senses of the robot. Range, Position, Vision, Touch etc

 Processor: Brain of the robot. Microcontroller, Onboard Computer etc

01 February 2022 Robotics and Intelligent Systems Engineering (RISE) Lab 27

 Types of Robots
Robots

Robot
Mobile Robots
Manipulators

Aerial Ground Underwater

Robots Robots Robots

Industrial Prosthetic Wheeled Legged

Robots Hands Robots Robots

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 Types of Robots

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 Applications of Robotics
Industrial Robots

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 Applications of Robotics
Field Robots

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 Applications of Robotics
Rehabilitation Robots

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 Applications of Robotics
Medical Robots

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 Applications of Robotics
Domestic Robots

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 Applications of Robotics
Entertainment Robots

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 Applications of Robotics
Military Robots

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 Challenges
 Perception: A robot is basically a “Lakeer ka Faqeer”.

 Actuation: Especially in Gripping and Walking.

 Facing an unforeseen event: Machine Learning only improves with experience.

 Materials and Manufacturing: Limiting factor in achieving better performance.

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 Dreams
 Robotic Car: Tesla, Google Car, DARPA Grand Challenge

 Robot Maid: Roomba, Scooba

 Robot Surgeon: da Vinci, ZEUS

 Human Level Intelligence and Movement: Robocup, DARPA Robotics Challenge

 Robot Army

01 February 2022 Robotics and Intelligent Systems Engineering (RISE) Lab 38

 Outline:
 My Introduction

 Course Introduction

 Introduction to Robotics

 Your Introduction

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 Your Introduction
1. Where did you grow up? What is your city/region famous for?

2. Tell us your educational background (any achievements?).

3. Why did you choose NUST and RIME? Are you satisfied with your experience
here so far?

4. What is the best thing you have learnt at RIME?

5. Why did you choose this course? What do you expect to learn in this course?

6. Do you have any experience in Robotics?

7. What do you want to achieve in life?

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 Any Questions?

01 February 2022 Robotics and Intelligent Systems Engineering (RISE) Lab 41

 Thank You!

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