Introduction to
Robotics
S6 CS(AI), AI&DS
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Module I
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Introduction
• Robotics is an interdisciplinary branch of technology that involves the design,
construction, operation, and application of robots.
• A robot is an automated machine that can perform specific tasks, either
autonomously or with human guidance.
• Robotics integrates principles from multiple fields such as mechanical
engineering, electrical engineering, electronics engineering, computer science,
and artificial intelligence (AI).
• Key Components of Robotics
1. Mechanical Systems: The physical structure of the robot, including arms,
legs, wheels. These systems are designed to perform specific physical tasks.
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2. Electrical Systems: These provide power and control to the robot, including
circuits, actuators, and energy sources like batteries.
3. Sensors: Allow robots to perceive their environment. Sensors collect data
like light, sound, temperature, and motion.
Examples: Cameras, ultrasonic sensors, gyroscopes
Control Systems: Manage the robot’s actions. This includes software and algorithms that
process data from sensors and dictate how the robot responds.
4.Artificial Intelligence (AI): Enables robots to make decisions and learn from
their environment. AI is essential for complex, autonomous robots.
Underwater Robots
https://www.youtube.com/watch?v=oAxf04Mlv0o
BMW's Car Factory ROBOTS and see how fast Manufacturing is done! BMW's
Car Factory ROBOTS use cutting edge technology to quickly produce cars.
https://www.youtube.com/watch?v=P7fi4hP_y80
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DEFINITION
ROBOT Czech word ROBOTA Forced or slave laborer.
The term robot was first introduced in 1921 by Karel Capek in a
Czech drama named “Rossum Universal Robots”. According to the
drama robot is a machine looking like a human.
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DEFINITION
Robots may be constructed on the lines of human form, but most robots are
machines designed to perform a task with no regard to their aesthetics.
A robot is a machine designed to execute one or more tasks automatically with
speed and precision.
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INTRODUCTION: First ROBOT
• During 1940s Asimov in his science
fiction stories envisioned Robot as a
helper of mankind.
• Inspired by Asimov stories, Joe
Engleberger along with George C Devol
started the UNIMATION robotic
company in the USA in 1958
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INTRODUCTION: Types of Robots
Based on • Manipulators, Mobile Robots, Swimming Robots , Arial or
flying Robots
function
Based on size • Micro Robots, Macro Robots and Nano Robots
Based on • Industrial, Entertainment, Medical, Domestic, Service,
Defense and Space
Application
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Types of Robots : Based on function
• Manipulators Most commonly used type of robot in
industries is Manipulator.
Robotic manipulators are inspired by human
arm kinematics.
Manipulators are used to manipulating
materials without direct physical contact by
the operator.
In more recent developments they have been
used in a diverse range of applications
including welding automation, robotic
surgery , and in space.
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• A manipulator refers to a mechanical device, often resembling an arm, designed to interact
with objects in its environment.
• It typically consists of joints, links, and end-effectors that enable it to perform tasks like
gripping, moving, rotating, or assembling components.
• Manipulators are widely used in industrial automation, medical procedures, and research
applications.
Key Components of a Manipulator:
1. Base: The fixed or mobile foundation of the manipulator.
2. Links: The rigid segments of the manipulator, connecting different joints.
3. Joints: The movable connections between links that provide degrees of freedom (DOF),
such as rotational or translational motion.
4. End-Effector: The tool or device at the end of the manipulator (e.g., grippers, welders, or
sensors) that interacts with objects.
5. Actuators: Devices like motors or hydraulic cylinders that drive the joints.
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6. Controller: A system that coordinates the manipulator's movements based
on input commands or programmed instructions.
7. Sensors: Used to provide feedback on position, force, or environmental
conditions.
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Types of Robots : Based on function
Mobile Robots: A mobile robot is a machine controlled by software
that uses sensors and other technology to identify its surroundings
and move around its environment.
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Types of Robots : Based on function
Wheeled robots:
Wheeled robots are robots that navigate around the ground using motorized wheels to
propel themselves.
Most wheeled robots use differential steering, which uses separately driven wheels for
movement.
They can change direction by rotating each wheel at a different speed.
There may be additional wheels that are not driven by a motor these extra wheels help
keep it balanced.
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Legged robots are a type of mobile robot, which use
articulated limbs, such as leg mechanisms, to provide
locomotion.
They are more versatile than wheeled robots and can
traverse many different terrains, though these
advantages require increased complexity and power
consumption.
Legged robots often imitate legged animals, such as
humans or insects.
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Types of Robots : Based on function
Underwater or swimming Robots
• Underwater robots, also known as Autonomous
Underwater Vehicles (AUVs) or Remotely
Operated Vehicles (ROVs), are robotic systems
designed to operate underwater for exploration,
monitoring, and various applications in marine
environments.
• These robots are used where human intervention
is challenging, such as deep-sea operations or
hazardous underwater tasks.
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• Types of Underwater Robots:
1.Remotely Operated Vehicles (ROVs):
• Operated by a human pilot on the surface via a tethered cable.
• Used for inspection, repairs, and exploration in deep-sea environments.
• Example: Deep-sea oil rig inspections.
2. Autonomous Underwater Vehicles (AUVs):
• Operate independently without a tether or human control.
• Pre-programmed for specific tasks like mapping, surveying, and data
collection.
• Example: Underwater mapping of ocean floors.
3. Hybrid Vehicles: Combine features of both AUVs and ROVs, allowing
autonomous operation with optional remote control.
4. Gliders: Small, energy-efficient underwater robots that "glide" by
adjusting their buoyancy for long-term environmental monitoring.
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1. Marine Exploration:
•Deep-sea exploration and ocean floor mapping.
•Discovery of shipwrecks and underwater archaeological sites.
2. Environmental Monitoring:
•Monitoring coral reefs, pollution, and climate changes.
•Observing underwater ecosystems and aquatic life.
3.Oil and Gas Industry:
•Inspection and maintenance of underwater pipelines and offshore drilling platforms.
4.Defense and Security:
•Mine detection, surveillance, and patrolling in naval operations.
5. Scientific Research:
•Collecting data on water quality, temperature, and marine biodiversity.
6. Search and Rescue Operations:
•Locating missing objects, aircraft, or bodies underwater.
7. Underwater Construction and Repairs:
•Support in underwater infrastructure and repairs, e.g., dams and bridges.
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Types of Robots : Based on function
Aerial Robots or Flying
Robots
• An unmanned aerial vehicle (UAV)
commonly known as a drone is
an aircraft without a human pilot on
board and a type of unmanned
vehicle.
• Are used in Target and decoy, Combat,
Logistics, Research and development,
Civil and commercial UAVs –
agriculture, aerial photography, data
collection
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Types of Robots : Based on size
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• Macro Robots refer to large-scale robots that are designed to perform
tasks that require considerable size, strength, or range of operation.
• Macro robots are used for industrial, commercial, or heavy-duty
applications.
• Large Size: Designed for visible, large-scale operations.
• High Power: Capable of handling heavy loads or performing robust tasks.
• Precision: Can achieve accurate and repeatable motions despite their size.
• Heavy-Duty Design: Built with strong materials to endure harsh
environments and heavy usage.
• Application Specific: Often tailored for specific tasks like manufacturing,
construction, or transport.
• Example: Robotic arms used in car manufacturing plants, Autonomous
tractors and harvesting robots, 3D printing robots for large-scale concrete
structures.
• ABB and KUKA Industrial Robots: Robotic arms used in manufacturing.
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• Micro robots are small-scale robotic systems with immense
potential in fields requiring precision, such as medicine, electronics,
and environmental monitoring.
• Their ability to access and operate in confined, delicate
environments makes them invaluable for tasks like microsurgery,
targeted drug delivery, and pollution detection.
• Small Size: Typically between millimeters and micrometers.
• Precision: Capable of operating with extreme accuracy.
• Low Power Consumption: Requires minimal energy due to their small size.
• Lightweight: Built with miniaturized components for flexibility and mobility.
• High Mobility: Able to navigate in restricted or complex environments.
• Example: Microbots deployed for spying in enemy territory, Microbots
exploring cracks in industrial pipelines, Microbots collecting water samples for
testing contamination levels.
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• Nano Robots are robots that operate at the nanoscale—typically in the range of 1
to 100 nanometers.
• These robots are built with nanoscale materials and are primarily used for tasks
requiring precision at the molecular or atomic level, especially in fields like
medicine, materials science, and biotechnology.
• Nano robots diagnosing early-stage cancer, Nano robots that neutralize harmful
chemicals in oceans, Nano robots can break down plaques in blood vessels to
prevent blockages, Advanced semiconductor manufacturing using nano-scale
robotics.
• Nano robots represent a groundbreaking advancement in science and
technology, enabling applications that were once unimaginable, particularly in
medicine, environmental cleanup, and nanotechnology.
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Mobile Robots
A mobile robot is a machine controlled by software that use sensors and other technology to identify its
surroundings and move around its environment.
Mobile robots function using a combination of artificial intelligence (AI) and physical robotic
elements, such as wheels, tracks and legs.
Mobile robots are becoming increasingly popular across different business sectors.
They are used to assist with work processes and even accomplish tasks that are impossible or dangerous
for human workers.
Mobile robots can be classified in two ways: by the environment in which they work and by the device
they use to move.
Examples of different environment mobile robots include:
Polar robots that are designed to traverse icy, uneven environments.
Aerial robots, also known as unmanned aerial vehicles (UAVs) or drones, which fly through the air.
Land or home robots, or unmanned ground vehicles (UGVs), that navigate on dry land or within houses.
Underwater robots, or autonomous underwater vehicles (AUVs), that can direct themselves and travel
through water.
Delivery and transportation mobile robots that are designed to move materials and supplies around a
work environment.
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•Locomotion is the ability to move from one place to
another.
• What is the age of the earth?
4.5 billion years….
• when did the first life form emerge???
3.6 billion years ago - prokaryotes
• When did first-time locomotion happen?
Oldest biological locomotion observed is about 585 million years ago
•Nature evolved by swimming, flying, crawling, and walking over the course of 585 million years!
•When did humans develop wheels as artificial means of locomotion?
Earliest depiction dates back to 3500 BC
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Wheeled Robots
• Use wheels for movement.
• Common in indoor environments like warehouses.
• Examples: Autonomous guided vehicles (AGVs), autonomous mobile
robots (AMRs).
Legged Robots
• Use legs for movement, mimicking animal or human locomotion.
• Capable of traversing uneven terrain.
• Examples: Boston Dynamics' Spot, humanoid robots like Atlas.
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Center of Mass (CoM) projection of a robot is a critical concept in robotics, particularly for ensuring
stability during movement or while standing still.
It refers to the vertical projection of the robot's Center of Mass onto a reference plane, typically the ground
plane.
CoM : A point representing the average position of all the mass in the robot.
For rigid robots, it is determined by the mass and position of all individual components
Projection: The CoM projection is the shadow or footprint of the CoM on the ground when a line is drawn
vertically from the CoM to the ground.
Support Polygon (Base of Support):The area enclosed by the robot's points of contact with the ground
(e.g., wheels, feet).
For a robot to remain stable, the CoM projection must lie within the support polygon.
Wheeled Robots:
• Typically have a larger support polygon (formed by wheel contacts), making it easier to keep the CoM
projection within bounds.
• Used in applications where stability is impotant, like transportation robots.
Legged Robots:
• Stability is more challenging due to a smaller and dynamic support polygon.
• Use strategies like the Zero Moment Point (ZMP) and inverse kinematics to ensure the CoM projection is
managed effectively during movement.
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Aerial Robots
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Applications of ROBOTS
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