Robotika EL4126

Referensi
K.S. Fu, R.C. Gonzales, C.S.G. Lee, Robotics : Control, Sensing, Vision, and Inteligence, Mc. Graw Hill, 1993 (Manipulator) Alexandar Lazinica, Robotics Infinity Science Press, LLC, Masachusets, 2007 Jean Christophe Jouferrey, Bio-Inspired Flying Robot, EPFL Press, CRC Swiss, 2008 Ranjan Vepa, Biomimetic Robotics : Mechanism and Control, Cambridge Univ. Press, 2008 Ranjan Vepa, Dan BM, Mechanisms and Robots Analysis Using MATLAB, Springer Verlag, 2008 Vladimir G, Tijana T, Human-like Biomechanics, Springer Verlag, 2006
Robotika - EL 4023/5023

Silabus Kuliah
I.
1. 2. 3. 4.

Pendahuluan (3 jam)
Klasifikasi Robot Aplikasi Robot Sejarah Robot Definisi dan Terminologi

II.
1. 2. 3. 4. 5. 6.

Sistem Penggerak (Locomotion System) (6 Jam)

Mekanisme Dasar + Sistem Transmisi Robot Manipulator : Joint dan Link Robot Bergerak : Roda dan Kaki Robot Aerial dan Underwater Actuator & Transmisi : Elektrik/Hidrolik/Pneumatik Perhitungan Daya Statik dan Dinamik
Robotika - EL 4023/5023

Silabus Kuliah
III.
1. 2. 3. 4. 1. 2. 3. 4. 5.

Kinematika Robot (9 jam)

Matrik Transformasi untuk Posisi dan Orientasi Metoda Denavit Hartenberg (DH) Kinematika Balik Mekanisme dan kinematika Mobile Robot Formulasi Lagrange Euler Formulasi Newton - Euler Diferensiasi Matrik Rotasi Matrik Jacobian Studi Kasus
Robotika - EL 4023/5023

IV. Dinamika Robot Manipulator (6 jam)

Silabus Kuliah
V. Sensor Robot dan Navigasi (3 jam)
1. 2. 3. 1. Internal Sensor External Sensor Sensor Citra Robot Manipulator (joint trajectory, path trajectory, pembangkitan trajectory) Mobile Robot (Ruang Konfigurasi-Free Space, Obstacle Space-, Motion Planning -Roadmap, Cell decomposition, potential field, bug algorithm-)

VI. Perencanaan gerak Robot (6 jam)

2.

VII. Pemetaan dan Lokalisasi (3 jam)

1. 2. 3. Pemetaan dengan Sonar Metoda Pemetaan : Bayes Rule dan Evidence grid SLAM (Simult. Loc. And Mapping) PRAKTIKUM di LAB ADV, ROBOTIC (6 jam)

Penilaian
Ujian 1 Demo 2 Quiz 1 3 Quiz 2 4 UTS 5 Tugas Besar I (Personal) 6 Tugas Besar II (Tim) Bobot Bahan 2 1 1 3 2 Rube Gouldberg s/d Locomotion s/d Kinematic semua Konsep Desain Robot Yang diaplikasikan pada Lingkungan Tertentu Waktu Minggu ke 1-2 Minggu ke-4 Minggu ke-6 Minggu ke-8 laporan serahkan paling lambat minggu ke 11 (bila ada waktu akan dipresentasikan) Minggu ke-9 presentasi dan demo s/d jadwal UAS Unsur yang dinilai Teamwork, Kreatifitas Analitis Analitis Kreatifitas, keterbaruan, implikasi terhadap lingkungan dan manusia Pembahasan makalah : penjelasan Mengapa (why) dan Bagaimana (how), organisasi dan deskripsi pekerjaan masing2 anggota, DAN DEMO!!! Analitis

Ruang /Waktu Jadwal ITB Teori dan Analitis

Mobile robot untuk Tugas Tertentu (line/wall follower), atau inisiatif sendiri Platform + motor drive diberikan, Micro.+ Sensor buat sendiri,

7 Quiz 3

s/d sebagian Motion Planning

Minggu ke-12

8 UAS

Semua (setelah UTS)

Ruang /Waktu Jadwal ITB Teori dan Analitis, Hanya untuk yang bernilai < A/AB

Robot continuum

Karl Capek

Dalek

1921

2020

2150

2421

...

Autonomous Robot Examples (2010)

Autonomous Robot
Goal: To develop a vision-guided robot which can autonomously carry out functions applicable to search and rescue, surveillance, law enforcement, inspection, mapping, and aerial cinematography, in any weather conditions and using only on-board intelligence and computing power

The Honda Humanoid

Mengapa menggunakan Robot ????

Application in 4D environments
Dangerous Dirty Dull Difficult Automation Augmentation Assistance Autonomous

4A tasks

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1.1 Klasifikasi Robot

Berdasarkan Kerangka Koordinat Dasar Static (Manipulator) Mobile Berdasarkan Klasifikasi Penggerak
Wheeled (roda) Mobile Robot Legged (kaki) Mobile Robot Bipedal Walking Robot : dua kaki Propulsion : dorongan fluida (Aerial : Helicopter, pesawat, Underwater )

 Berdasarkan Klasifikasi Kecerdasan

Remotely Operated : Dikendalikan secara jarak jauh, tidak ada kebebasan bergerak secara mandiri

Autonomous : Kemampuan navigasi secara mandiri maupun pengambilan keputusan secara mandiri dalam menjalankan sebuah misi
Robotika - EL 4023/5023

1.2 Aplikasi Robot Field Robots/Mobile Platform

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Service robots

15

Service robots
Robots for Assistive Technology

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Industrial robots

Entertainment

Militer

1. SAFFIR
DARPA menugaskan Virgina Tech Univ. untuk mengembangkan sebuah robot pemadam kebakaran dengan julukan SAFFiR (Shipboard Autonomous Firefighting Robot). SAFFiR dibekali dengan bermacam sensor untuk mendeteksi api, kamera. Robot ini mampu berjalan dan memanjat dengan mulus. Dapat dioperasikan jarak jauh melalui remote control

2. Cheetah
Dikembangkan oleh Boston Dynamics, Cheetah dijuluki sebagai robot tercepat di dunia dengan kecepatan lari bisa mencapai 45 km per jam. Ia mempunyai empat kaki.

3. Big Dog
Robot ini ditujukan untuk membawa beban berat di medan pertempuran. Ia mampu berjalan cepat di berbagai medan, termasuk di kemiringan sekalipun. Bahkan ketika terpeleset di tempat yang licin, Big Dog dirancang mampu menyeimbangkan diri secara otomatis.

4. RHex

Militer AS sedang mengujicoba robot bernama Rhex ini yang mempunyai enam kaki. Rhex dikembangkan oleh Boston Dynamics terinpirasi dari binatang kecoa. Sedang diujicoba di Afghanistan untuk tes.

5. Sand Flea

Sand Flea bisa melontarkan diri hingga mendarat di atas gedung setinggi sekitar 10 meter ataupun ke area perbukitan. Bisa melakukan sekitar 25 kali lompatan sebelum dayanya habis. Didesain sedemikian rupa sehingga pendaratan mulus dan tidak sampai merusak bodinya.

6. Recon Scout

Recon Scout dikembangkan oleh ReconRobotics (nilai kontrak USD 1,7 juta oleh Angkatan Laut AS). Robot ini beroperasi di semua tempat dan mentransmisikan video secara real time. Ia akan membantu militer dalam mengamati berbagai lokasi, seperti bunker dan sebagainya

7. Petman
Petman yang dikembangkan oleh Boston Dymanics, dideskripsikan sebagai robot pertama yang mampu bergerak secara dinamis seperti manusia. Dia dapat berjalan dengan mulus, bahkan melakukan push up. Mungkin Petman akan menjadi cikal bakal robot humanoid militer AS

8. Ekso Skeleton
Ekso Skeleton adalah kerangka robot dengan berbagai macam kegunaan. Tujuan utama dikembangkannya perangkat Ekso Skeleton ini adalah untuk menambah kekuatan para tentara. Tentara bisa memakainya sehingga lebih kuat dan terlindungi

9. TerraMax
Kendaraan truk dapat dapat beroperasi secara otonom. Dikembangkan pleh persh. Oskhosh. TerraMax dirancang dapat membawa berbagai peralatan sampai memonitor wilayahwilayah terpencil.

10. Rover Curiosity

1.3 Robot History

Wind powered organ Heron of Alexandria (10 70 M), egypt Mathematician, Engineer, inventor

Hidro powered water rising machine

Ab al-'Iz Ibn Ism'l ibn al-Razz al-Jazar (1136 1206 M), Mesopotamia Mechanical Engineer, Craftman, Artist, mathematician and astronomer Buku f ma'rifat al-hiyal alhandasiyya (Book of Knowledge of Ingenious Mechanical Devices) : Menggambarkan 50 jenis perangkat mekanik disertai dengan penjelasan bagaimana membangunnya

Automaton (self-operating machine).

Leonardo da Vinci (1452 1519 M) Painter, sculptor, architect, musician, scientist, mathematician, engineer, inventor, anatomist, geologist, cartographer, botanist and writer.

Slaves of steel

The first person to use the word robot was a playwright, Czechoslovakian writer Karel Capek in his satirical play, R.U.R. (Rossum's Universal Robots). 1921 Cover page of the first edition The word robot from the czech robota which means a serf or one in subservient labor

 in the early 1940s MIT developed a numerically controlled (NC) milling machine (the first NC machine tool) The term 'robotics' refers to the study and use of robots and was coined and first used by the Russian-born American scientist and writer Isaac Asimov (1942). Asimov also created the Three Laws of Robotics.
1) a robot may not injure a human being, or, through inaction, allow a human being to come to harm; 2) a robot must obey orders given to it by human beings except where such orders conflict with the first law; and 3) a robot must protect its own existence as long as such protection does not conflict with the first or the second law.

Calculators and computers

John Atanassoff built the world's first digital computer. J. Presper Eckert & John Mauchly at Univ. Pennsylvania build the first large electronic computer called ENIAC (Electronic Numerical Integrator And Calculator). But these devices could only handle numbers. The UNIVAC I (Universal Automatic Computer) would be the first device to deal with letters.

ENIAC computer (1946) 17.468 vacum tube transistor, 70.000 resistor, 10.000 kapasitor 5 million soldered conection Dim : 2,4x0,9x30 m, Space :167 m2, weight : 27 Ton, Power : 160 kW

 In 1961 George Devol created his patent for parts transfer machines. Joe Engelberger teamed with Devol to form Unimation and was the first to market robots. As a result, Engelberger has been called the 'father of robotics.' The first industrial modern robot - the Unimate developed by Devol and Engelberger - was installed at GM (New Jersey) in 1962.

A Unimate serves Devol and Engelberger with a cocktail

A Unimate employed more profitably

 In 1964 Artficial Intelligence (AI) Labs open at MIT, Stanford (SRI) and University of Edinburgh The mobile robot Shakey was developed at Stanford in the late sixties.It had a camera and touch sensors and could move about the lab floor SRI develop the Stanford Arm - an electrically powered manipulator and then WAVE - the first robot programming language. This was subsequently developed into VAL for use with Unimation robots In 1974 ASEA introduce the all electric drive IRb6. Cincinnati Milacron also introduce computer controlled T3 (The Tomorrow Tool) robot. Kawasaki use Unimation machines to weld motorbike frames. In 1976 Viking I & II space crafts equipped with robot arms land on Mars Unimate PUMAs (Programmable Universal Machine for Assembly) introduced in 1978. SCARAs (Selective Compliance Articulated Robot Arm) introduced in 1979. Vision based workcell demonstrated at University of Rhode Island in 1980 (Kirsch).

 Definisi ROBOT
American Heritage Dictionary: robot (rbt, -bt) n. 1: A mechanical device that sometimes resembles a human being and is capable of performing a variety of often complex human tasks on command or by being programmed in advance. 2: A machine or device that operates automatically or by remote control. 3: A person who works mechanically without original thought, especially one who responds automatically to the commands of others. Websters: 1 a : a machine that looks like a human being and performs various complex acts (as walking or talking) of a human being; also : a similar but fictional machine whose lack of capacity for human emotions is often emphasized b : an efficient insensitive person who functions automatically

Robotika - EL 4023/5023

 Definisi ROBOT
2 a device that automatically performs complicated often repetitive tasks 3 : a mechanism guided by automatic controls

RIA A re-programmable multi-functional manipulator designed to move material, parts, or specialized devices through variable programmed motion for the performance of a variety of tasks" (RIA, Robot Institute of America, A group within Society of Manufacturing Engineering)

Robotika - EL 4023/5023

1.3

Definisi/Terminologi

Ciri-ciri (Features) Umum Robot

Melakukan Tugas (Perform a Task) Pergerakan (Movement) Merasakan (Sense) Memutuskan (Decide) Melakukan Aksi (Respond)

Robotika - EL 4023/5023

Komponen Robot
Locomotion (Mekanisme gerak dan Aktuator) Sensor Kecerdasan (Perilaku dan Interaksi) Navigasi (Pemetaan, Trayektori, Lokalisasi)

Robotika - EL 4023/5023

LOCOMOTION : Bergerak dari satu tempat/posisi ke tempat/posisi yang lainnya (Moving one place to place)

crawling

Sliding/snaking

running

jumping

walking

rolling

gliding

flying

swimming

propulsion

Branchiating/ climbing

 NAVIGASI berkaitan dengan menggerakkan seluruh platform (fisik) menuju tujuan yang ditentukan Kemampuan2 yang perlu dimiliki oleh sebuah sistem navigasi : Membuat representasi lingkungan kerja (mapping) Mengetahui posisinya (localization) Membuat rencana jalur berdasarkan representasi yang dimilikinya (motion planning) Mengambil keputusan dan melakukan aksi pergerakan (follower, obstacle avoidance)

 Robotika adalah .............

Robotika - EL 4023/5023

 Robotika adalah Inter-discipline

Mech. Eng. Electrical Eng. Control CS & AI Vision, HCI Software Dev. Biology Neuroscience Cognitive Science

Object & Environment

Architecture
Mapping

Sensing and Motion

Visual Control

Cooperative Robotics Entertainment Robot Learning

Planning / Modeling

Robotika - EL 4023/5023

 Faktor Desain Sistem Robot

Maneuverability (kemampuan Bergerak, maju/mundur lurus, berputar) Controllability (Dapat dikendalikan) Traction (Daya tarik/Power) Climbing ability (Kemampuan memanjat) Stability (Kestabilan) Efficiency (Efisiensi) Maintenance (Pemeliharaan) Environmental impact (pengaruhnya terhadap lingkungan, obstacle minor boleh ditabrak, hanya bisa dihindari, atau di geser) Navigational (navigasi/pengenalan posisi)
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Topics
Robot Manipulator
Kinematics model of manipulators Dynamic Model of manipulators Trajectory generation Robot Control

Mobile Robot
Kinematic &dynamic model of wheeled mobile robots Feedback control of mobile robots with nonholonomic constraints Motion planning Mapping and Navigation

Robot Sensing:
Visual and non-visual sensors Sensor fusion algorithms Vision and laser basedRobotika tracking control - EL 4023/5023

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Summary
Robotics--interdisciplinary research
Mechanical design Computer science and engineering Electrical engineering Cognitive psychology, perception and neuroscience

Research open problems

Manipulation, Locomotion Control, Navigation Human-Robot Interaction Learning & Adaptation (AI)

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