ME – 465:

Robotics and Automation

LECTURE 1: INTRODUCTION
 Outline:
▪ My Introduction

▪ Introduction to Robotics

▪ Course Introduction

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 Outline:
▪ My Introduction

▪ Introduction to Robotics

▪ Course Introduction

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 Instructor:
Dr. Khawaja Fahad Iqbal
Department of Robotics and Artificial Intelligence,
SMME, NUST.

Office: 318F
Email: [email protected]

Class will be held on Wednesdays@ 1400-1550hrs in

CR-203.

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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
Networks. robot’s current position and the goal position.

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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:
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.

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 Lab Engineer (SMME, NUST):
2012-2014
Projects:
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. Autonomous Robotic Wheelchair (RIME-02).
6. Robocup Standard Platform League - SPL (CE EME, batch 2014).

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 Outline:
▪ My Introduction

▪ Introduction to Robotics

▪ Course 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 Coooool ! ☺

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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

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 Types of Robots
▪ Manipulators
▪ Wheeled Robots
▪ Humanoid Robots
▪ Multi Legged Robots
▪ Aerial Robots
▪ Micro Robots
▪ Underwater 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

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 Outline:
▪ My Introduction

▪ Introduction to Robotics

▪ Course Introduction

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 Grading Policy:
▪ Lectures (2 credit hours):
▪ 2x Assignments = 10%

▪ 4x Quizzes = 10%

▪ 2x OHTs = 30%

▪ Class Participation = 10%

▪ Final Exam (Paper + 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 lots of questions in the class. If you answer these

question correctly, you will get class participation points.

▪ If you demonstrate a negative attitude towards learning or

if you cause a disturbance in the class, I will deduct class
participation points.

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 Course Content
▪ The topics that we are going to cover in this course are:
1. Representing Position and Orientation

2. Time and Motion

3. Forward Kinematics

4. Inverse Kinematics

5. Velocity Relationships

6. Dynamics and Control

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 Any Questions?

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 That’s it for today.

See you next week!

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