The Shadow Robot Hand System Robotics Is The Engineering Science

Robotics

The Shadow robot hand system Robotics is the engineering science and technology of robots, and their design, manufacture, and application.[1] Robotics is related to electronics, mechanics, and software.[2] The word robot was introduced to the public by Czech writer Karel Čapek in his play R.U.R. (Rossum's Universal Robots), published in 1920. The first recorded use of the term was by Isaac Asimov in his 1941 science fiction short-story Liar!"[3]

Contents [hide] • •

1 Origins 2 Components of robots o 2.1 Structure o 2.2 Power source o 2.3 Actuation

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2.4 Sensing  2.4.1 Touch o 2.5 Manipulation o 2.6 Locomotion  2.6.1 Rolling robots  2.6.2 Walking robots  2.6.3 Other methods of locomotion o 2.7 Environmental interaction and navigation o 2.8 Human-robot interaction 3 Control 4 Dynamics and kinematics 5 Robot research 6 Education and training o 6.1 Employment in robotics 7 Healthcare 8 See also 9 Notes

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10 References

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[edit] Origins See also: History of robots and Robot Stories of artificial helpers and companions likewise attempts to create them have a long history, but fully autonomous machines only appeared in the 20th century. The first digitally operated and programmable robot, the Unimate, was installed in 1961 to lift hot pieces of metal from a die casting machine and stack them. Today, commercial and industrial robots are in widespread use performing jobs cheaper or more accurately and reliably than humans. They are also employed for jobs which are too dirty, dangerous, or dull to be suitable for humans. Robots are widely used in manufacturing, assembly, and packing; transport; earth and space exploration; surgery; weaponry; laboratory research; safety; and mass production of consumer and industrial goods.[4] Date

Significance

Descriptions of more than 100 machines First and automata, including a fire engine, a century wind organ, a coin-operated machine, and A.D. and a steam-powered engine, in Pneumatica earlier and Automata by Heron of Alexandria

Robot Name

Inventor

Ctesibius, Philo of Byzantium, Heron of Alexandria, and others

1206

programmable Humanoid Automatons

Boat with four musicians

Al-Jazari

c. 1495

Designs for a humanoid robot

Mechanical knight

Leonardo da Vinci

1738

Mechanical duck that was able to eat, flap Digesting its wings, and excrete Duck

1800s

Japanese mechanical toys that served tea, Karakuri toys Tanaka Hisashige fired arrows, and painted

1921

Rossum's First fictional automatons called "robots" Universal appear in the play R.U.R. Robots

Karel Čapek

1930s

Humanoid robot exhibited at the 1939 and Elektro 1940 World's Fairs

Westinghouse Electric Corporation

1948

Simple robots exhibiting biological behaviors[5]

William Grey Walter

1956

First commercial robot, from the Unimation company founded by George Unimate Devol and Joseph Engelberger, based on Devol's patents[6]

George Devol

1961

First installed industrial robot

Unimate

George Devol

1963

First palletizing robot[7]

Palletizer

Fuji Yusoki Kogyo

1973

First industrial robot with six

Famulus

KUKA Robot Group

Elsie and Elmer

Jacques de Vaucanson

electromechanically driven axes[8]

1975

Programmable universal manipulation arm, a Unimation product

PUMA

Victor Scheinman

According to the Oxford English Dictionary, the word robotics was first used in print by Isaac Asimov, in his science fiction short story "Liar!", published in May 1941 in Astounding Science Fiction. Asimov was unaware that he was coining the term; since the science and technology of electrical devices is electronics, he assumed robotics already referred to the science and technology of robots. However, in some of Asimov's other works, he states that the first use of the word robotics was in his short story Runaround (Astounding Science Fiction, March 1942).[9][10] The word robotics was derived from the word robot, which was introduced to the public by Czech writer Karel Čapek in his play R.U.R. (Rossum's Universal Robots), which premiered in 1921.[11]

[edit] Components of robots This section needs additional citations for verification. Please help improve this article by adding reliable references. Unsourced material may be challenged and removed. (July 2009)

[edit] Structure The structure of a robot is usually mostly mechanical and can be called a kinematic chain (its functionality being similar to the skeleton of the human body). The chain is formed of links (its bones), actuators (its muscles), and joints which can allow one or more degrees of freedom. Most contemporary robots use open serial chains in which each link connects the one before to the one after it. These robots are called serial robots and often resemble the human arm. Some robots, such as the Stewart platform, use a closed parallel kinematical chain. Other structures, such as those that mimic the mechanical structure of humans, various animals, and insects, are comparatively rare. However, the development and use of such structures in robots is an active area of research (e.g. biomechanics). Robots used as manipulators have an end effector mounted on the last link. This end effector can be anything from a welding device to a mechanical hand used to manipulate the environment.

[edit] Power source At present; mostly (lead-acid) batteries are used, but potential power sources could be: • •

pneumatic (compressed gasses) hydraulics (compressed liquids)

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flywheel energy storage organic garbages (through anaerobic digestion) feces (human, animal); may be interesting in a military context as feces of small combat groups may be reused for the energy requirements of the robot assistant (see DEKA's project Slingshot stirling engine on how the system would operate) still untested energy sources (eg Joe Cell, ...) radioactive source (such as with the proposed Ford car of the '50); to those proposed in movies such as Red Planet

[edit] Actuation

A robot leg powered by Air Muscles Actuators are the "muscles" of a robot, the parts which convert stored energy into movement. By far the most popular actuators are electric motors, but there are many others, powered by electricity, chemicals, and compressed air. • •

Motors: The vast majority of robots use electric motors, including brushed and brushless DC motors. Stepper motors: As the name suggests, stepper motors do not spin freely like DC motors; they rotate in discrete steps, under the command of a controller. This makes them easier to control, as the controller knows exactly how far they should have rotated, without having to use a sensor. The controller can't tell if the motor has stalled and the shaft didn't turn. They are used on many robots and CNC machines, as their main advantage over DC motors, is that you can specify how

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much to turn, for more precise control, rather than a "spin and see where it went" approach. Piezo motors: A recent alternative to DC motors are piezo motors or ultrasonic motors. These work on a fundamentally different principle, whereby tiny piezoceramic elements, vibrating many thousands of times per second, cause linear or rotary motion. There are different mechanisms of operation; one type uses the vibration of the piezo elements to walk the motor in a circle or a straight line.[12] Another type uses the piezo elements to cause a nut to vibrate and drive a screw. The advantages of these motors are nanometer resolution, speed, and available force for their size.[13] These motors are already available commercially, and being used on some robots.[14][15] Air muscles: The air muscle is a simple yet powerful device for providing a pulling force. When inflated with compressed air, it contracts by up to 40% of its original length. The key to its behavior is the braiding visible around the outside, which forces the muscle to be either long and thin, or short and fat (almost like a Chinese finger trap). Since it behaves in a very similar way to a biological muscle, it can be used to construct robots with a similar muscle/skeleton system to an animal.[16] For example, the Shadow robot hand uses 40 air muscles to power its 24 joints. Electroactive polymers: Electroactive polymers are a class of plastics which change shape in response to electrical stimulation.[17] They can be designed so that they bend, stretch, or contract, but so far there are no EAPs suitable for commercial robots, as they tend to have low efficiency or are not robust.[18] Indeed, all of the entrants in a recent competition to build EAP powered arm wrestling robots, were beaten by a 17 year old girl.[19] However, they are expected to improve in the future, where they may be useful for microrobotic applications.[20] Elastic nanotubes: These are a promising, early-stage experimental technology. The absence of defects in nanotubes[disambiguation needed] enables these filaments to deform elastically by several percent, with energy storage levels of perhaps 10J per cu cm for metal nanotubes. Human biceps could be replaced with an 8mm diameter wire of this material. Such compact "muscle" might allow future robots to outrun and outjump humans.[21]

[edit] Sensing [edit] Touch Current robotic and prosthetic hands receive far less tactile information than the human hand. Recent research has developed a tactile sensor array that mimics the mechanical properties and touch receptors of human fingertips.[22] The sensor array is constructed as a rigid core surrounded by conductive fluid contained by an elastomeric skin. Electrodes are mounted on the surface of the rigid core and are connected to an impedancemeasuring device within the core. When the artificial skin touches an object the fluid path around the electrodes is deformed, producing impedance changes that map the forces

received from the object. The researchers expect that an important function of such artificial fingertips will be adjusting robotic grip on held objects.

[edit] Manipulation Robots which must work in the real world require some way to manipulate objects; pick up, modify, destroy, or otherwise have an effect. Thus the 'hands' of a robot are often referred to as end effectors,[23] while the arm is referred to as a manipulator.[24] Most robot arms have replaceable effectors, each allowing them to perform some small range of tasks. Some have a fixed manipulator which cannot be replaced, while a few have one very general purpose manipulator, for example a humanoid hand. •

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Mechanical Grippers: One of the most common effectors is the gripper. In its simplest manifestation it consists of just two fingers which can open and close to pick up and let go of a range of small objects. See industrial robot end effectors. Vacuum Grippers: Pick and place robots for electronic components and for large objects like car windscreens, will often use very simple vacuum grippers. These are very simple astrictive[25] devices, but can hold very large loads provided the prehension surface is smooth enough to ensure suction. General purpose effectors: Some advanced robots are beginning to use fully humanoid hands, like the Shadow Hand, MANUS,[26] and the Schunk hand.[27] These highly dexterous manipulators, with as many as 20 degrees of freedom and hundreds of tactile sensors.[28]

For the definitive guide to all forms of robot endeffectors, their design, and usage consult the book "Robot Grippers".[29]

[edit] Locomotion See also: Robot locomotion [edit] Rolling robots

Segway in the Robot museum in Nagoya. For simplicity, most mobile robots have four wheels. However, some researchers have tried to create more complex wheeled robots, with only one or two wheels. •

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Two-wheeled balancing: While the Segway is not commonly thought of as a robot, it can be thought of as a component of a robot. Several real robots do use a similar dynamic balancing algorithm, and NASA's Robonaut has been mounted on a Segway.[30] Ballbot: Carnegie Mellon University researchers have developed a new type of mobile robot that balances on a ball instead of legs or wheels. "Ballbot" is a selfcontained, battery-operated, omnidirectional robot that balances dynamically on a single urethane-coated metal sphere. It weighs 95 pounds and is the approximate height and width of a person. Because of its long, thin shape and ability to maneuver in tight spaces, it has the potential to function better than current robots can in environments with people.[31] Track Robot: Another type of rolling robot is one that has tracks, like NASA's Urban Robot, Urbie.[32]

[edit] Walking robots

iCub robot, designed by the RobotCub Consortium Walking is a difficult and dynamic problem to solve. Several robots have been made which can walk reliably on two legs, however none have yet been made which are as robust as a human. Many other robots have been built that walk on more than two legs, due to these robots being significantly easier to construct.[33][34] Hybrids too have been proposed in movies such as I, Robot, where they walk on 2 legs and switch to 4 (arms+legs) when going to a sprint. Typically, robots on 2 legs can walk well on flat

floors, and can occasionally walk up stairs. None can walk over rocky, uneven terrain. Some of the methods which have been tried are: •

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ZMP Technique: The Zero Moment Point (ZMP) is the algorithm used by robots such as Honda's ASIMO. The robot's onboard computer tries to keep the total inertial forces (the combination of earth's gravity and the acceleration and deceleration of walking), exactly opposed by the floor reaction force (the force of the floor pushing back on the robot's foot). In this way, the two forces cancel out, leaving no moment (force causing the robot to rotate and fall over).[35] However, this is not exactly how a human walks, and the difference is quite apparent to human observers, some of whom have pointed out that ASIMO walks as if it needs the lavatory.[36][37][38] ASIMO's walking algorithm is not static, and some dynamic balancing is used (See below). However, it still requires a smooth surface to walk on. Hopping: Several robots, built in the 1980s by Marc Raibert at the MIT Leg Laboratory, successfully demonstrated very dynamic walking. Initially, a robot with only one leg, and a very small foot, could stay upright simply by hopping. The movement is the same as that of a person on a pogo stick. As the robot falls to one side, it would jump slightly in that direction, in order to catch itself.[39] Soon, the algorithm was generalised to two and four legs. A bipedal robot was demonstrated running and even performing somersaults.[40] A quadruped was also demonstrated which could trot, run, pace, and bound.[41] For a full list of these robots, see the MIT Leg Lab Robots page. Dynamic Balancing or controlled falling: A more advanced way for a robot to walk is by using a dynamic balancing algorithm, which is potentially more robust than the Zero Moment Point technique, as it constantly monitors the robot's motion, and places the feet in order to maintain stability.[42] This technique was recently demonstrated by Anybots' Dexter Robot,[43] which is so stable, it can even jump.[44] Another example is the TU Delft Flame. Passive Dynamics: Perhaps the most promising approach utilizes passive dynamics where the momentum of swinging limbs is used for greater efficiency. It has been shown that totally unpowered humanoid mechanisms can walk down a gentle slope, using only gravity to propel themselves. Using this technique, a robot need only supply a small amount of motor power to walk along a flat surface or a little more to walk up a hill. This technique promises to make walking robots at least ten times more efficient than ZMP walkers, like ASIMO.[45][46]

[edit] Other methods of locomotion

RQ-4 Global Hawk unmanned aerial vehicle •

Flying: A modern passenger airliner is essentially a flying robot, with two humans to manage it. The autopilot can control the plane for each stage of the journey, including takeoff, normal flight, and even landing.[47] Other flying robots are uninhabited, and are known as unmanned aerial vehicles (UAVs). They can be smaller and lighter without a human pilot onboard, and fly into dangerous territory for military surveillance missions. Some can even fire on targets under command. UAVs are also being developed which can fire on targets automatically, without the need for a command from a human. However these robots are unlikely to see service in the foreseeable future because of the morality issues involved. Other flying robots include cruise missiles, the Entomopter, and the Epson micro helicopter robot. Robots such as the Air Penguin, Air Ray, and Air Jelly have lighter-than-air bodies, propelled by paddles, and guided by sonar.

Two robot snakes. Left one has 64 motors (with 2 degrees of freedom per segment), the right one 10. •

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Snaking: Several snake robots have been successfully developed. Mimicking the way real snakes move, these robots can navigate very confined spaces, meaning they may one day be used to search for people trapped in collapsed buildings.[48] The Japanese ACM-R5 snake robot[49] can even navigate both on land and in water.[50] Skating: A small number of skating robots have been developed, one of which is a multi-mode walking and skating device, Titan VIII[dead link]. It has four legs, with unpowered wheels, which can either step or roll.[51] Another robot, Plen, can use a miniature skateboard or rollerskates, and skate across a desktop.[52]

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Climbing: Several different approaches have been used to develop robots that have the ability to climb vertical surfaces. One approach mimicks the movements of a human climber on a wall with protrusions; adjusting the center of mass and moving each limb in turn to gain leverage. An example of this is Capuchin,[53] built by Stanford University, California. Another approach uses the specialised toe pad method of wall-climbing geckoes, which can run on smooth surfaces such as vertical glass. Examples of this approach include Wallbot [54] and Stickybot.[55] A third approach is to mimick the motion of a snake climbing a pole[citation needed]. Swimming: It is calculated that when swimming some fish can achieve a propulsive efficiency greater than 90%.[56] Furthermore, they can accelerate and maneuver far better than any man-made boat or submarine, and produce less noise and water disturbance. Therefore, many researchers studying underwater robots would like to copy this type of locomotion.[57] Notable examples are the Essex University Computer Science Robotic Fish,[58] and the Robot Tuna built by the Institute of Field Robotics, to analyze and mathematically model thunniform motion.[59] The Aqua Penguin, designed and built by Festo of Germany, copies the streamlined shape and propulsion by front "flippers" of penguins. Festo have also built the Aqua Ray and Aqua Jelly, which emulate the locomotion of manta ray, and jellyfish, respectively.

[edit] Environmental interaction and navigation

RADAR, GPS, LIDAR, ... are all combined to provide proper navigation and obstacle avoidance This section does not cite any references or sources. Please help improve this article by adding citations to reliable sources. Unsourced material may be challenged and removed. (July 2009) Though a significant percentage of robots in commission today are either human controlled, or operate in a static environment, there is an increasing interest in robots that can operate autonomously in a dynamic environment. These robots require some combination of navigation hardware and software in order to traverse their environment.

In particular unforeseen events (eg. people and other obstacles that are not stationary) can cause problems or collisions. Some highly advanced robots as ASIMO, EveR-1, Meinü robot have particularly good robot navigation hardware and software. Also, selfcontrolled cars, Ernst Dickmanns' driverless car, and the entries in the DARPA Grand Challenge, are capable of sensing the environment well and subsequently making navigational decisions based on this information. Most of these robots employ a GPS navigation device with waypoints, along with radar, sometimes combined with other sensory data such as LIDAR, video cameras, and inertial guidance systems for better navigation between waypoints.

[edit] Human-robot interaction

Kismet can produce a range of facial expressions. If robots are to work effectively in homes and other non-industrial environments, the way they are instructed to perform their jobs, and especially how they will be told to stop will be of critical importance. The people who interact with them may have little or no training in robotics, and so any interface will need to be extremely intuitive. Science fiction authors also typically assume that robots will eventually be capable of communicating with humans through speech, gestures, and facial expressions, rather than a command-line interface. Although speech would be the most natural way for the human to communicate, it is quite unnatural for the robot. It will be quite a while before robots interact as naturally as the fictional C-3PO. •

Speech recognition: Interpreting the continuous flow of sounds coming from a human (speech recognition), in real time, is a difficult task for a computer, mostly because of the great variability of speech. The same word, spoken by the same person may sound different depending on local acoustics, volume, the previous word, whether or not the speaker has a cold, etc.. It becomes even harder when the speaker has a different accent.[60] Nevertheless, great strides have been made in the field since Davis, Biddulph, and Balashek designed the first "voice input system" which recognized "ten digits spoken by a single user with 100% accuracy" in 1952.[61] Currently, the best systems can recognize continuous, natural speech, up to 160 words per minute, with an accuracy of 95%.[62]

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Gestures: One can imagine, in the future, explaining to a robot chef how to make a pastry, or asking directions from a robot police officer. On both of these occasions, making hand gestures would aid the verbal descriptions. In the first case, the robot would be recognizing gestures made by the human, and perhaps repeating them for confirmation. In the second case, the robot police officer would gesture to indicate "down the road, then turn right". It is quite likely that gestures will make up a part of the interaction between humans and robots.[63] A great many systems have been developed to recognize human hand gestures.[64] Facial expression: Facial expressions can provide rapid feedback on the progress of a dialog between two humans, and soon it may be able to do the same for humans and robots. Frubber robotic faces have been constructed by Hanson Robotics, allowing a great amount of facial expressions due to the elasticity of the rubber facial coating and imbedded subsurface motors (servos) to produce the facial expressions.[65] The coating and servos are built on a metal skull. A robot should know how to approach a human, judging by their facial expression and body language. Whether the person is happy, frightened, or crazy-looking affects the type of interaction expected of the robot. Likewise, robots like Kismet and the more recent addition, Nexi[66] can produce a range of facial expressions, allowing it to have meaningful social exchanges with humans.[67] Artificial emotions Artificial emotions can also be imbedded and are composed of a sequence of facial expressions and/or gestures. As can be seen from the movie Final Fantasy: The Spirits Within, the programming of these artificial emotions is quite complex and requires a great amount of human observation. To simplify this programming in the movie, presets were created together with a special software program. This decreased the amount of time needed to make the film. These presets could possibly be transferred for use in real-life robots. Personality: Many of the robots of science fiction have a personality, something which may or may not be desirable in the commercial robots of the future.[68] Nevertheless, researchers are trying to create robots which appear to have a personality:[69][70] i.e. they use sounds, facial expressions, and body language to try to convey an internal state, which may be joy, sadness, or fear. One commercial example is Pleo, a toy robot dinosaur, which can exhibit several apparent emotions.[71]

[edit] Control

A robot-manipulated marionette, with complex control systems This section does not cite any references or sources. Please help improve this article by adding citations to reliable sources. Unsourced material may be challenged and removed. (July 2009) The mechanical structure of a robot must be controlled to perform tasks. The control of a robot involves three distinct phases - perception, processing, and action (robotic paradigms). Sensors give information about the environment or the robot itself (e.g. the position of its joints or its end effector). This information is then processed to calculate the appropriate signals to the actuators (motors) which move the mechanical. The processing phase can range in complexity. At a reactive level, it may translate raw sensor information directly into actuator commands. Sensor fusion may first be used to estimate parameters of interest (e.g. the position of the robot's gripper) from noisy sensor data. An immediate task (such as moving the gripper in a certain direction) is inferred from these estimates. Techniques from control theory convert the task into commands that drive the actuators. At longer time scales or with more sophisticated tasks, the robot may need to build and reason with a "cognitive" model. Cognitive models try to represent the robot, the world, and how they interact. Pattern recognition and computer vision can be used to track objects. Mapping techniques can be used to build maps of the world. Finally, motion planning and other artificial intelligence techniques may be used to figure out how to act. For example, a planner may figure out how to achieve a task without hitting obstacles, falling over, etc. Control systems may also have varying levels of autonomy. Direct interaction is used for haptic or tele-operated devices, and the human has nearly complete control over the robot's motion. Operator-assist modes have the operator commanding medium-to-highlevel tasks, with the robot automatically figuring out how to achieve them. An autonomous robot may go for extended periods of time without human interaction. Higher levels of autonomy do not necessarily require more complex cognitive

capabilities. For example, robots in assembly plants are completely autonomous, but operate in a fixed pattern.

[edit] Dynamics and kinematics This section does not cite any references or sources. Please help improve this article by adding citations to reliable sources. Unsourced material may be challenged and removed. (July 2009) The study of motion can be divided into kinematics and dynamics. Direct kinematics refers to the calculation of end effector position, orientation, velocity, and acceleration when the corresponding joint values are known. Inverse kinematics refers to the opposite case in which required joint values are calculated for given end effector values, as done in path planning. Some special aspects of kinematics include handling of redundancy (different possibilities of performing the same movement), collision avoidance, and singularity avoidance. Once all relevant positions, velocities, and accelerations have been calculated using kinematics, methods from the field of dynamics are used to study the effect of forces upon these movements. Direct dynamics refers to the calculation of accelerations in the robot once the applied forces are known. Direct dynamics is used in computer simulations of the robot. Inverse dynamics refers to the calculation of the actuator forces necessary to create a prescribed end effector acceleration. This information can be used to improve the control algorithms of a robot. In each area mentioned above, researchers strive to develop new concepts and strategies, improve existing ones, and improve the interaction between these areas. To do this, criteria for "optimal" performance and ways to optimize design, structure, and control of robots must be developed and implemented.

[edit] Robot research

TOPIO, a robot can play ping-pong, developed by TOSY. [72] Further information: Open-source robotics and Evolutionary robotics Much of the research in robotics focuses not on specific industrial tasks, but on investigations into new types of robots, alternative ways to think about or design robots, and new ways to manufacture them. A first particular new innovation in robotdesign is the opensourcing of robot-projects. To describe the level of advancement of a robot, the term "Generation Robots" can be used. This term is coined by Professor Hans Moravec, Principal Research Scientist at the Carnegie Mellon University Robotics Institute in describing the near future evolution of robot technology. First, second and third generation robots are First generation robots, Moravec predicted in 1997, should have an intellectual capacity comparable to perhaps a lizard and should become available by 2010. Because the first generation robot would be incapable of learning, however, Moravec predicts that the second generation robot would be an improvement over the first and become available by 2020, with an intelligence maybe comparable to that of a mouse. The third generation robot should have an intelligence comparable to that of a monkey. Though fourth generation robots, robots with human intelligence, professor Moravec predicts, would become possible, he does not predict this happening before around 2040 or 2050.[73] The second is Evolutionary Robots. This is a methodology that uses evolutionary computation to help design robots, especially the body form, or motion and behavior controllers. In a similar way to natural evolution, a large population of robots is allowed to compete in some way, or their ability to perform a task is measured using a fitness function. Those that perform worst are removed from the population, and replaced by a new set, which have new behaviors based on those of the winners. Over time the

population improves, and eventually a satisfactory robot may appear. This happens without any direct programming of the robots by the researchers. Researchers use this method both to create better robots,[74] and to explore the nature of evolution.[75] Because the process often requires many generations of robots to be simulated, this technique may be run entirely or mostly in simulation, then tested on real robots once the evolved algorithms are good enough.[76] Currently, there are about 1 million industrial robots toiling around the world, and Japan is the top country having high density of utilizing robots in its manufacturing industry.[77]

[edit] Education and training

The SCORBOT-ER 4u - educational robot. Robotics as an undergraduate area of study is fairly common, although few universities offer robotics degrees. In the United States, only Worcester Polytechnic Institute (WPI) offers a Bachelor of Science in Robotics Engineering. Universities that have graduate degrees focused on robotics include Carnegie Mellon University, MIT, UPENN, UCLA, WPI, and SDSM&T. In Australia, there are Bachelor of Engineering degrees at the universities belonging to the Centre for Autonomous Systems (CAS)[78]: University of Sydney, University of New South Wales, and the University of Technology, Sydney. Other universities include Deakin University, Flinders University, Swinburne University of Technology, University

of Western Australia, and the University of Western Sydney. Others offer degrees in Mechatronics. In India a post-graduate degree in Mechatronics is offered at Madras Institute of Technology, Chennai. Mechatronics at bachelor level is offered at SASTRA university, Thanjur and kongu college of engineering, Erode. In the UK, Robotics degrees are offered by a number of institutions including the HeriotWatt University, University of Essex, the University of Liverpool, University of Reading, Sheffield Hallam University, Staffordshire University, University of Sussex, Robert Gordon University, and the University of Wales, Newport. In Mexico, the Monterrey Institute of Technology and Higher Education offers a Bachelor of Science in Digital Systems and Robotics Engineering[79] and a Bachelor of Science in Mechatronics.[80] In Iran, the Shahrood University of Technology and Hamedan University of Technology offer a Bachelor of Science in Robotics Engineering. Others offer degrees in Mechatronics. Universities that have graduate degrees focused on Mechatronics include Sharif University of Technology, Amirkabir University of Technology, K. N. Toosi University of Technology, University of Tabriz, and Semnan University. Robots recently became a popular tool in raising interests in computing for middle and high school students. First year computer science courses at several universities were developed which involves the programming of a robot instead of the traditional software engineering based coursework. Examples include Course 6 at MIT and the Institute for Personal Robots in Education at the Georgia Institute of Technology with Bryn Mawr College. Some specialised robotics jobs require new skills, such as those of robot installer and robot integrator.[81] While universities have long included robotics research in their curricular offerings and tech schools have taught industrial robotic arm control, new college programs in applied mobile robots are under development at universities in both the US and EU, with help from Microsoft, MobileRobots Inc., and other companies encouraging the growth of robotics. Robotics courses are also available online, for example at RAS Robotic Courseware.

[edit] Employment in robotics

A robot technician builds small all-terrain robots. (Courtesy: MobileRobots Inc) As the number of robots increases, robotics-related jobs grow. Some jobs require existing job skills, such as building cables, assembling parts, and testing.

[edit] Healthcare This section does not cite any references or sources. Please help improve this article by adding citations to reliable sources. Unsourced material may be challenged and removed. (July 2009) Script Pro manufactures a robot designed to help pharmacies fill prescriptions that consist of oral solids or medications in pill form. The pharmacist or pharmacy technician enters the prescription information into its information system. The system, upon determining whether or not the drug is in the robot, will send the information to the robot for filling. The robot has 3 different size vials to fill determined by the size of the pill. The robot technician, user, or pharmacist determines the needed size of the vial based on the tablet when the robot is stocked. Once the vial is filled it is brought up to a conveyor belt that delivers it to a holder that spins the vial and attaches the patient label. Afterwards it is set on another conveyor that delivers the patient’s medication vial to a slot labeled with the patient's name on an LED read out. The pharmacist or technician then checks the contents of the vial to ensure it’s the correct drug for the correct patient and then seals the vials and sends it out front to be picked up. The robot is a very time efficient device that the pharmacy depends on to fill prescriptions. McKesson’s Robot RX is another healthcare robotics product that helps pharmacies dispense thousands of medications daily with little or no errors. The robot can be ten feet wide and thirty feet long and can hold hundreds of different kinds of medications and thousands of doses. The pharmacy saves many resources like staff members that are otherwise unavailable in a resource scarce industry. It uses an electromechanical head coupled with a pneumatic system to capture each dose and deliver it to its either stocked

or dispensed location. The head moves along a single axis while it rotates 180 degrees to pull the medications. During this process it uses barcode technology to verify its pulling the correct drug. It then delivers the drug to a patient specific bin on a conveyor belt. Once the bin is filled with all of the drugs that a particular patient needs and that the robot stocks, the bin is then released and returned out on the conveyor belt to a technician waiting to load it into a cart for delivery to the floor.

[edit] See also Robotics portal

Main article: Outline of robotics • • • • • • • • • • • • •

Category:Robotics suites Future of robotics Glossary of robotics History of technology Human virtualization Industrial robot List of emerging robotic technologies NASA robots Naturoid Open source hardware Robot Robotics suite Whegs

[edit] Notes 1. ^ "Definition of robotics - Merriam-Webster Online Dictionary". http://mw1.merriam-webster.com/dictionary/Robotics. Retrieved on 2007-08-26. 2. ^ "Industry Spotlight: Robotics from Monster Career Advice". http://content.monster.com/articles/3472/18567/1/industry/12/home.aspx. Retrieved on 2007-08-26. 3. ^ According to the Oxford English Dictionary, the term "robotics" was first used in the short story Liar! published in the May, 1941 issue of Astounding Science Fiction. 4. ^ "Robotics: About the Exhibition". The Tech Museum of Innovation. http://www.thetech.org/exhibits/online/robotics/universal/index.html. Retrieved on 2008-09-15. 5. ^ Imitation of Life: A History of the First Robots 6. ^ Waurzyniak, Patrick (2006-07). "Masters of Manufacturing: Joseph F. Engelberger". Society of Manufacturing Engineers 137 (1). http://www.sme.org/cgi-bin/findarticles.pl?&ME06ART39&ME&20060709#article.

7. ^ "Company History". Fuji Yusoki Kogyo Co.. http://www.fujiyusoki.com/English/rekishi.htm. Retrieved on 2008-09-12. 8. ^ "KUKA Industrial Robot FAMULUS". http://www.kukarobotics.com/en/company/group/milestones/1973.htm. Retrieved on 2008-01-10. 9. ^ Asimov, Isaac (1996) [1995]. "The Robot Chronicles". Gold. London: Voyager. pp. 224-225. ISBN 0-00-648202-3. 10. ^ Asimov, Isaac (1983). "4 The Word I Invented". Counting the Eons. Doubleday. "Robotics has become a sufficiently well developed technology to warrant articles and books on its history and I have watched this in amazement, and in some disbelief, because I invented … the word" 11. ^ Zunt, Dominik. "Who did actually invent the word "robot" and what does it mean?". The Karel Čapek website. http://capek.misto.cz/english/robot.html. Retrieved on 2007-09-11. 12. ^ "Piezo LEGS - -09-26". http://www.piezomotor.se/pages/PLtechnology.html. 13. ^ "Squiggle Motors: Overview". http://www.newscaletech.com/squiggle_overview.html. Retrieved on 2007-10-08. 14. ^ Nishibori et al. (2003). Robot Hand with Fingers Using Vibration-Type Ultrasonic Motors (Driving Characteristics). Journal of Robotics and Mechatronics. http://www.fujipress.jp/finder/xslt.php?mode=present&inputfile=ROBOT001500 060002.xml. Retrieved on 2007-10-09. 15. ^ Yamano and Maeno (2005) (PDF). Five-fingered Robot Hand using Ultrasonic Motors and Elastic Elements. Proceedings of the 2005 IEEE International Conference on Robotics and Automation. http://www.maeno.mech.keio.ac.jp/English/ICRA2005_yamano.pdf. Retrieved on 2007-10-09. 16. ^ "Shadow Robot Company: Air Muscles". http://www.shadowrobot.com/airmuscles/overview.shtml. Retrieved on 2007-1015. 17. ^ "[Azom.com The A-Z of Materials ElectroActive Polymers - EAPs]". Azom.com The A-Z of Materials. Retrieved on 2007-10-15. 18. ^ Yoseph Bar-Cohen (2002) (PDF). Electro-active polymers: current capabilities and challenges. Proceedings of the SPIE Smart Structures and Materials Symposium. http://ndeaa.jpl.nasa.gov/ndeaa-pub/SPIE-2002/SPIE-02-EAP-469502-challenges.pdf. Retrieved on 2007-10-15. 19. ^ Arm wrestling robots beaten by a teenaged girlham-Rowe. 2002-03-08. http://www.newscientisttech.com/article/dn7113. Retrieved on 2007-10-15.[dead link] 20. ^ Otake et al. (2001) (PDF). Shape Design of Gel Robots made of Electroactive Polymer Gel. http://www.neuroscint.org/otake/uploads/papers/Otake_smems2001ems.pdf. Retrieved on 2007-10-16. 21. ^ John D. Madden, 2007, Mobile Robots: Motor Challenges and Materials Solutions, Science 16 November 2007: Vol. 318. no. 5853, pp. 1094–1097, DOI: 10.1126/science.1146351 22. ^ Wettels N, Santos VJ, Johansson RS, et al. (2008). Biomimetic tactile sensor array. Advanced Robotics, 22, 829-849.

23. ^ "What is a a robotic end-effector?". ATI Industrial Automation. 2007. http://www.ati-ia.com/. Retrieved on 2007-10-16. 24. ^ Crane, Carl D.; Joseph Duffy (1998-03). Kinematic Analysis of Robot Manipulators. Cambridge University Press. ISBN 0521570638. http://www.cambridge.org/us/catalogue/catalogue.asp?isbn=0521570638. Retrieved on 2007-10-16. 25. ^ Definition "astrictive" (to bind, confine, or constrict) in Collins English Dictionary & Thesaurus 26. ^ MANUS 27. ^ Allcock, Andrew (2006-09). "Anthropomorphic hand is almost human". Machinery. http://www.machinery.co.uk/article/7593/Anthropomorphic-hand-isalmost-human.aspx. Retrieved on 2007-10-17. 28. ^ [1] 29. ^ G.J. Monkman, S. Hesse, R. Steinmann & H. Schunk – Robot Grippers - Wiley, Berlin 2007 30. ^ "ROBONAUT Activity Report". NASA. 2004-02. http://robonaut.jsc.nasa.gov/status/Feb_Robonaut_Status_04.htm. Retrieved on 2007-10-20. 31. ^ Carnegie Mellon (2006-08-09). "Carnegie Mellon Researchers Develop New Type of Mobile Robot That Balances and Moves on a Ball Instead of Legs or Wheels". Press release. http://www.cmu.edu/PR/releases06/060809_ballbot.html. 32. ^ JPL Robotics: System: Commercial Rovers 33. ^ Multipod robots easy to construct 34. ^ AMRU-5 hexapod robot 35. ^ "Achieving Stable Walking". Honda Worldwide. http://world.honda.com/ASIMO/history/technology2.html. Retrieved on 2007-1022. 36. ^ "Funny Walk". Pooter Geek. 2004-12-28. http://www.pootergeek.com/2004/12/funny-walk/. Retrieved on 2007-10-22. 37. ^ "ASIMO's Pimp Shuffle". Popular Science. 2007-01-09. http://popsci.typepad.com/ces2007/2007/01/asimos_pimp_shu.html. Retrieved on 2007-10-22. 38. ^ Vtec Forum: A drunk robot? thread 39. ^ "3D One-Leg Hopper (1983–1984)". MIT Leg Laboratory. http://www.ai.mit.edu/projects/leglab/robots/3D_hopper/3D_hopper.html. Retrieved on 2007-10-22. 40. ^ "3D Biped (1989–1995)". MIT Leg Laboratory. http://www.ai.mit.edu/projects/leglab/robots/3D_biped/3D_biped.html. 41. ^ "Quadruped (1984–1987)". MIT Leg Laboratory. http://www.ai.mit.edu/projects/leglab/robots/quadruped/quadruped.html. 42. ^ "About the robots". Anybots. http://www.anybots.com/abouttherobots.html. Retrieved on 2007-10-23. 43. ^ "Homepage". Anybots. http://anybots.com/. Retrieved on 2007-10-23. 44. ^ "Dexter Jumps video". YouTube. 2007-03. http://www.youtube.com/watch?v=ZnTy_smY3sw. Retrieved on 2007-10-23.

45. ^ Collins, Steve; Wisse, Martijn; Ruina, Andy; Tedrake, Russ (2005-02-11). "Efficient bipedal robots based on passive-dynamic Walkers" (PDF). Science 307 (307): 1082–1085. doi:10.1126/science.1107799. PMID 15718465. http://ruina.tam.cornell.edu/research/topics/locomotion_and_robotics/papers/effici ent_bipedal_robots/efficient_bipedal_robots.pdf. Retrieved on 2007-09-11. 46. ^ Collins, Steve; Ruina, Andy. "A bipedal walking robot with efficient and human-like gait". Proc. IEEE International Conference on Robotics and Automation.. 47. ^ "Testing the Limits". Boeing. page 29. http://www.boeing.com/news/frontiers/archive/2008/feb/i_ca01.pdf. Retrieved on 2008-04-09. 48. ^ Miller, Gavin. "Introduction". snakerobots.com. http://www.snakerobots.com/. Retrieved on 2007-10-22. 49. ^ ACM-R5 50. ^ Swimming snake robot (commentary in Japanese) 51. ^ "Commercialized Quadruped Walking Vehicle "TITAN VII"". Hirose Fukushima Robotics Lab. http://wwwrobot.mes.titech.ac.jp/robot/walking/titan8/titan8_e.html. Retrieved on 2007-1023. 52. ^ "Plen, the robot that skates across your desk". SCI FI Tech. 2007-01-23. http://blog.scifi.com/tech/archives/2007/01/23/plen_the_robot.html. Retrieved on 2007-10-23. 53. ^ [2] 54. ^ [3] 55. ^ Stanford University: Stickybot 56. ^ Sfakiotakis, et al. (1999-04) (PDF). Review of Fish Swimming Modes for Aquatic Locomotion. IEEE Journal of Oceanic Engineering. http://www.ece.eps.hw.ac.uk/Research/oceans/people/Michael_Sfakiotakis/IEEEJ OE_99.pdf. Retrieved on 2007-10-24.[dead link] 57. ^ Richard Mason. "What is the market for robot fish?". http://rjmason.com/ramblings/robotFishMarket.html. 58. ^ "Robotic fish powered by Gumstix PC and PIC". Human Centred Robotics Group at Essex University. http://cswww.essex.ac.uk/staff/hhu/HCRGroup.html#Entertainment. Retrieved on 2007-10-25. 59. ^ Witoon Juwarahawong. "Fish Robot". Institute of Field Robotics. http://fibo.kmutt.ac.th/project/eng/current_research/fish.html. Retrieved on 200710-25.[dead link] 60. ^ Survey of the State of the Art in Human Language Technology: 1.2: Speech Recognition 61. ^ Fournier, Randolph Scott., and B. June. Schmidt. "Voice Input Technology: Learning Style and Attitude Toward Its Use." Delta Pi Epsilon Journal 37 (1995): 1_12. 62. ^ "History of Speech & Voice Recognition and Transcription Software". Dragon Naturally Speaking. http://www.dragon-medicaltranscription.com/history_speech_recognition.html. Retrieved on 2007-10-27.

63. ^ Waldherr, Romero & Thrun (2000) (PDF). A Gesture Based Interface for Human-Robot Interaction. Kluwer Academic Publishers. http://robots.stanford.edu/papers/waldherr.gestures-journal.pdf. Retrieved on 2007-10-28. 64. ^ Markus Kohler. "Vision Based Hand Gesture Recognition Systems". University of Dortmund. http://ls7-www.cs.uni-dortmund.de/research/gesture/vbgrtable.html. Retrieved on 2007-10-28.[dead link] 65. ^ Frubber facial expressions 66. ^ Nexi facial expressions 67. ^ "Kismet: Robot at MIT's AI Lab Interacts With Humans". Sam Ogden. http://www.samogden.com/Kismet.html. Retrieved on 2007-10-28. 68. ^ (Park et al. 2005) Synthetic Personality in Robots and its Effect on HumanRobot Relationship 69. ^ National Public Radio: Robot Receptionist Dishes Directions and Attitude 70. ^ New Scientist: A good robot has personality but not looks 71. ^ Ugobe: Introducing Pleo[dead link] 72. ^ "Nano technology | Computer | Robot | TOSY TOPIO - Table Tennis Playing Robot". DigInfo News. http://www.diginfo.tv/2007/12/05/07-0601-d.php. Retrieved on 2007-12-05. 73. ^ NOVA conversation with Professor Moravec, October, 1997. NOVA Online 74. ^ Sandhana, Lakshmi (2002-09-05), A Theory of Evolution, for Robots, Wired Magazine, http://www.wired.com/science/discoveries/news/2002/09/54900, retrieved on 2007-10-28 75. ^ Experimental Evolution In Robots Probes The Emergence Of Biological Communication, Science Daily, 2007-02-24, http://www.sciencedaily.com/releases/2007/02/070222155713.htm, retrieved on 2007-10-28 76. ^ The Latest Technology Research News: Evolution trains robot teams 77. ^ Top 10 Robotic Countries 78. ^ [ http://www.cas.edu.au ] 79. ^ ITESM: B.S. Digital Systems and Robotics Engineering 80. ^ [4] 81. ^ ((cite web|http://www.mobilerobots.com/OEMdevpr.html|title=Job and business opportunities in robotics))

[edit] References •

K. S. Fu & R.C. Gonzalez & C.S.G. Lee, Robotics: Control, Sensing, Vision, and