Ch2 History

IIC-3684 Mobile Robotics DCC - PUC
Mobile Robots
IIC-3684
Robots History
Professor : Alvaro Soto
Alvaro Soto
© Alvaro Soto
Ch. 2
The Movies View
Alvaro Soto
© Alvaro Soto
Ch. 2
Robots in the books
• In 1921 Czechoslovakian playwright

Karel Capek creates the play R.U.R.:
Rossum's Universal Robots
• Czech robota, which means tedious
labor
Alvaro Soto
© Alvaro Soto
Ch. 2
Robots in the books

Asimov 3 laws of Robotics (Runaround 1942)
1. A robot may not injure a human, or, through inaction,
allow a human being to come to harm.
2. A robot must obey the orders it by human beings

except where such orders would conflict with the First
Law.
3. A robot must protect its own existence as long as such

protection does not conflict with the First or Second
Law.
0. Later he also added the “zeroth” law
Alvaro Soto
© Alvaro Soto
Ch. 2
What are the real robots today ?

• Are human-like with human capabilities?
• The unconditional servants ?
• Maybe the rebel machines ?
• The highly smart but lack of feeling
improved humans ?
• Just trash-can type of machines ?
Let see the real story
Alvaro Soto
© Alvaro Soto
Ch. 2
Grandfather and father of Robotics

• George Devol design the first programmable robot,
Universal Automation (1954)
"The present invention makes available for the first time a
more or less general purpose machine that has universal
application to a vast diversity of applications where cyclic
control is desired."
• George Devol and Joseph Engelberger start Unimation,

the first Robotics company (1956)
• Unimation starts the era of industrial manipulators or

until now known as Industrial Robots but they are just
mechanical arms
• The era of the close loop approach and electrical

engineers
Alvaro Soto
© Alvaro Soto
Ch. 2
Hits in the history on Industrial Arms

• 1961 General motors get first industrial arm
• 1967 Japan imports the Versatran robot from AMF
• 1968 Kawasaki licenses hydraulic robot design from
Unimation
• Cincinnati Milacron releases the T3
• 1974 Victor Scheinman funded Vicarm Inc.
• 1978 Using technology from Vicarm, Unimation develops
the PUMA
• 1983 Adept Technology is founded
• 80s The robot industry starts its rapid growth, with a new
robot or company entering the market every month
Alvaro Soto
© Alvaro Soto
Ch. 2
Industrial Arms Today

• Japan big player
• Kawasaki Robotics, Hitachi, Mitsubishi …
• Europe
• ABB and Kuka Roboter
• USA
• Adept Technology and CRS Robotics
• Main applications:
• welding, painting, assembling and packaging manufactured
goods, loading and unloading machines, dispensing adhesives,
amongst others
• Year 2000, an industry of US$5.6b with 30.000 units sold
Alvaro Soto
© Alvaro Soto
Ch. 2
Example: ASEA IRB L6/2

• Description
• Industrial Robot
• Five axis
• Payload of 13 lbs
• Repeatability +.2mm
• Horizontal reach
1229mm
• Used for
• Part handling
• Tool manipulation
• Assembly
Alvaro Soto
© Alvaro Soto
Ch. 2
Industrial Arms Lessons

• Fixed or limited mobility
• Operates in structured environment
• Limited perception
• Relatively simple control program
• A big, mature, and well established
industry
Are they robots ?
Alvaro Soto
© Alvaro Soto
Ch. 2
Mobile Robots
• Gray Walter’s Tortoise (1953
• Even organisms with extremely simple nervous
systems could show complex and unexpected
behavior
• The turtle
• Steering motor on front wheel
and driving on rear wheels
• Two vacuum tubes for control
• One photocell
• One bump sensor
Alvaro Soto
© Alvaro Soto
Ch. 2
Gray Walter’s Tortoise

• Light-seeking robot
• Behaviors
• Go toward “weak” light
• Go away from “strong” light
• Recharge batteries
Alvaro Soto
© Alvaro Soto
Ch. 2
Beast (1960, JHU)
• Controlled by dozens of
transistors
• Wall following behavior,
using arm and sonar
• When battery ran low, it
search for outlets using
photocell optics
• It has a specially designed
recharging arm
Alvaro Soto
© Alvaro Soto
Ch. 2
Shakey (1967-1970, SRI)
• First AI robot
• Leave in a world of blocks
• All Processing is off-board
• Model based
• Uses Strips
Alvaro Soto
© Alvaro Soto
Ch. 2
Stanford Car (1967-1979, Stanford)
• Controlled by an off-board
computer
• It uses multiple views to
estimate depth
• It takes 15 minutes to
analyze each view point
Alvaro Soto
© Alvaro Soto
Ch. 2
Stanford Car
Alvaro Soto
© Alvaro Soto
Ch. 2
Bad News for R2D2

• Mobile robots are just lab curiosities
• Unable to operate in real time even in
simple block worlds
• Lack of computer power, lack of
suitable batteries and sensor, lack of
mostly everything …
• Sentence: not more mobile robots from
70s to Mid 80s
Alvaro Soto
© Alvaro Soto
Ch. 2
Good News
Alvaro Soto From Robot by Hans Moravec

© Alvaro Soto
Ch. 2
MIT Behavior based control
Genghis
Alvaro Soto
© Alvaro Soto
Ch. 2
CMU 3D – Robotics Institute 1985

• Dirty, Dull, and Dangerous
Alvaro Soto
© Alvaro Soto
Ch. 2
Japanese Humanoids
Alvaro Soto
© Alvaro Soto
Ch. 2
Where are we on 2005?
Low
Autonomy
Medium
Some where
in Here
High
High Medium Low

Constraint on Environment
Alvaro Soto
© Alvaro Soto
Ch. 2
New Domains for Robots
“Today big challenge is to provide robots with good

perceptual capabilities”
Alvaro Soto
© Alvaro Soto
Ch. 2
Home care
Alvaro Soto
© Alvaro Soto
Ch. 2
Lawn care
Alvaro Soto
© Alvaro Soto
Ch. 2
Security and Surveillance
Alvaro Soto
© Alvaro Soto
Ch. 2
Research Platforms
Alvaro Soto
© Alvaro Soto
Ch. 2
Entertainment
Alvaro Soto
© Alvaro Soto
Ch. 2
Toys
Alvaro Soto
© Alvaro Soto
Ch. 2
Marketing/Hospitality
Alvaro Soto
© Alvaro Soto
Ch. 2
Exploration
Alvaro Soto
© Alvaro Soto
Ch. 2
Humanoids
Alvaro Soto
© Alvaro Soto
Ch. 2
Elder Assistant
Alvaro Soto
© Alvaro Soto
Ch. 2
Military Robotics
Alvaro Soto
© Alvaro Soto
Ch. 2
Market Size
Alvaro Soto
© Alvaro Soto
Ch. 2
What is ahead!
Robots
Are
Raising
Alvaro Soto
© Alvaro Soto
Ch. 2

Ch2 History

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Ch2 History

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IIC-3684 Mobile Robotics DCC - PUC

Professor : Alvaro Soto

The Movies View

Robots in the books

• In 1921 Czechoslovakian playwright

Robots in the books

2. A robot must obey the orders it by human beings

3. A robot must protect its own existence as long as such

0. Later he also added the “zeroth” law

What are the real robots today ?

Let see the real story

Grandfather and father of Robotics

• George Devol and Joseph Engelberger start Unimation,

• Unimation starts the era of industrial manipulators or

• The era of the close loop approach and electrical

Hits in the history on Industrial Arms

Industrial Arms Today

• Year 2000, an industry of US$5.6b with 30.000 units sold

Example: ASEA IRB L6/2

Industrial Arms Lessons

Are they robots ?

Gray Walter’s Tortoise

Beast (1960, JHU)

Shakey (1967-1970, SRI)

Stanford Car (1967-1979, Stanford)

Bad News for R2D2

Alvaro Soto From Robot by Hans Moravec

MIT Behavior based control

CMU 3D – Robotics Institute 1985

Where are we on 2005?

High Medium Low

New Domains for Robots

“Today big challenge is to provide robots with good

Security and Surveillance

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