Scribd
Upload
532 views18 pages

Robotics

Robotics involves physical sensors and effectors that allow robots to perceive their environment and move within it. Key problems in robotics include localization to determine the robot's location, and motion planning to find paths for the robot to follow that avoid obstacles. Motion planning can be approached by discretizing the configuration space and using search algorithms on the discrete space, or by constructing a roadmap of connectivity between landmarks. Overall, robotics integrates sensing, movement, and algorithms to allow robots to operate autonomously.

Uploaded by

rajashekarpula
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
532 views18 pages

Robotics

Robotics involves physical sensors and effectors that allow robots to perceive their environment and move within it. Key problems in robotics include localization to determine the robot's location, and motion planning to find paths for the robot to follow that avoid obstacles. Motion planning can be approached by discretizing the configuration space and using search algorithms on the discrete space, or by constructing a roadmap of connectivity between landmarks. Overall, robotics integrates sensing, movement, and algorithms to allow robots to operate autonomously.

Uploaded by

rajashekarpula
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 18

Robotics

R&N: ch 25
based on material from Jean-
Claude Latombe, Daphne Koller,
Stuart Russell
Agent
sensors

?
environment
agent

effectors

Robots ⇒ Physical sensors and effectors


Sensors
Sensors that tell the robot
position/change of joints: odometers,
speedometers, etc.
Force sensing. Enables compliant
motion--robot just maintains contact
with object (video: compliant)
Sonar. Send out sound waves and
measure how long it takes for it to be
reflected back. Good for obstacle
avoidance.
Vision systems
Effectors
Converts software commands into
physical motion
Typically electrical motors or
hydraulic/pneumatic cylinders
Two main types of effectors:
 locomotion
 manipulation
Locomotion
Legs!
 traditional (video: honda human)
 Other types
 Statically stable locomotion: can pause at any
stage during its gate without falling
 Dynamically stable locomotion: stable only as
long as it keeps moving (video: hopper)
Still, wheeled or tread locomotion like
Shakey is still most practical for typical
environments
Other methods: reconfigurable robots,
fish robots, snake-like robots. (video:
mod-robot)
Manipulation
Manipulation of objects
Typical manipulators allow for:
 Prismatic motion (linear movement)
 Rotary motion (around a fixed hub)
Robot hands go from complex
anthromorphic models to simpler ones
that are just graspers
 (video: manipulation)
 (video: heart surgery)
Problems in Robotics
Localization and Mapping
Motion planning
Localization: Where Am I?
Use probabilistic inference: compute current
location and orientation (pose) given
observations

At-1 At-1 At-1

Xt-1 Xt-1 Xt-1

Zt-1 Zt-1 Zt-1


Motion Planning
Simplest task that a robot needs to
accomplish
Two aspects:
 Finding a path robot should follow
 Adjusting motors to follow that path
Goal: move robot from one
configuration to another
Configuration space
Describe robot’s configuration using a
set of real numbers
Flatland -- robot in 2D -- how to
describe?
Degrees of freedom: a robot has k
degrees of freedom if it can be
described fully by a set of k real
numbers
 e.g. robot arm (slide)
Want minimum-dimension
parameterization
Example
workspace for 2-D robot that can
only translate, not rotate
configuration space describes legal
configurations
 free-space
 obstacles
Configuration space depends on
how big robot is—need reference
point
Path planning
Goal: move the robot from an initial
configuration to a goal position
path must be contained entirely in free
space
assumptions:
 robot can follow any path (as long as avoids
obstacles)
 dynamics are completely reliable
 obstacles known in advance
 obstacles don’t move
Assumption #1
robot can follow any path
what about a car?
degrees of freedom vs.
controllable degrees of freedom
 holonomic (same)
 nonholonomic
 (video: holonomic)
Motion planning
reduces to problem of finding a
path from an initial state to a goal
in robot’s configuration space
why is this hard?
Reformulate as discrete
search
finely discretized grid
cell decomposition: decompose the
space into large cells where each cell is
simple, motion planning in each cell is
trivial
roadmap (skeletonization) methods:
come up with a set of major
“landmarks” in the space and a set of
roads between them
Issues in Search
Complete
Optimality
Computational Complexity
Motion planning
algorithms
grid
cell decomposition
 exact
 approximate
roadmap (skeletonization)
methods:
 visibility graphs
 randomized path planning
Robotics: Summary
We’ve just seen a brief
introduction…
Issues:
 sensors, effectors
 Locomotion, manipulation
Some problems:
 Localization
 Motion Planning
Lots more!!

You might also like