Robotics Mina Çelik 220201071

Robotics is the intersection of science engineerşng and technology that produces machines
called robots that substitute for or replicate human actions. Robot is the product of the robotic
field where programmable machines are built that can assist humans or mimic human actions.
The word robot comes from the Slavic word ‘robota’ which means work or labor. So a robot is
basically just a machine that can be programmed to do complex series actions. Every robot is a
machine but every machine isn’t a robot. So there are three pillars of robotics: statues, sense,
thinking and acting. If a machine can sense, think and act then it can be called a robot so a
machine can be only classified as a robot if it can sense, think and act.
3 pillars of robotics
1) Sense
Human beings sense the environment around us with the help of sense organs . However a
robot senses anything online around it with the help of sensors.
Robots utilize the sensors to gather the information about its environment.
Light Sensors Gas Sensors
Camera Touch Sensors
Temperature Sensors Accelerometer

2) Think

Human beings think with help of a brain. However a robot processes the information and
things with the help of microcontrollers and microprocessors.

3) Act

Human beings use their legs and arms to carry out various actions. However a robot uses
motors and various other actuators for carrying out actions. Actuator is basically just a
machine that can convert energy from electrical energy into an actual mechanical moment.

Actuators:
DC Motors Servo Motor
AC Motors Stepper Motor
Solenoids

So a machine can be classified as a robot only if it can sense, think and act at the same time. If it
can only do one of these activities it isn’t a robot it’s just a machine.
Robots originally built to handle monotonous tasks like building cars on an assembly line but
have homes and assisting with incredibly intricate surgeries. As technology progresses so too
does the scope of what is considered. Robotic in 2005, 90 percent of all robots could be found
assembling cars in automotive factories. These robots consist mainly of mechanical arms tasked
with welding or screwing on certain parts of a car.

Today we’re seeing an evolved and expanded definition of robotics that includes the
development, creation and use of robots that explore earth's harshest conditions.
Robots that assist law enforcement and even robots that assist consistent characteristics.

1) All robots consist of some sort of mechanical construction. The mechanical aspect of a
robot helps it complete tasks in the environment for which it’s designed.

2) Robots need electrical components that control and power the machinery. Essentially an
electric current, a battery for example is needed to power a large majority of robots.

3) Robots contain at least some level of computer programming. Without a set of code
telling it what to do, a robot would just be another piece of simple machinery. Inserting a
program into a robot gives it the ability to know when and how to carry out a task.

History of Robotics
● The history of robotics can be traced back to ancient Greece. There is at least one
example of a robot in Greek mythology: the mechanical servant of Hephaestus, the
Greek god of technology, fire, and blacksmithing.
● In 1206, Al-Jazari created the earliest form of programmable humanoid robot, the
automaton. Appearing in the form of four musicians on a boat in the lake, the
automaton has a programmable drum machine with pins striking small levers that
operate the drums. Al-Jazari has many other machines.
● In 1945, Leonardo Da Vinci maintained a humanoid robot in knight armor, it is not
known whether it was actually built.
● Johannes Müller von Königsberg made an automatic eagle and bow tie out of iron;
both could fly in 1533.
● Jacques De Vaucanson created some of the most famous automata in 1737. His
most famous creation is The Digesting Duck, which mimics a real duck's ability to flap
its wings, eat grain, digest and defecate, and is powered by a weight.
● The Japanese craftsman Hisashige Tanaka (1799-1881), known as the "Edison of
Japan" or "Karakuriemon," created the quiver in the 19th century.
● Nikola Tesla demonstrates a remote-controlled torpedo.
● The first person to use the word robot was playwright Karel Capek in his 1921 play,
who coined the word from the Czech word robot, meaning to bind.
● In 1928, Japan's first robot, Gakutensoku, was designed and built by biologist Makoto
Nishimura.
● In the 1930s, they created a humanoid robot called Elektro for exhibition purposes,
including the 1939 and 1940 World's Fairs.
● In 1940, Isaac Asimov wrote a series of short stories about robots, beginning with
"Strange Playmates"; for Super Science Stories magazine, his story was about a
robot and his love for a child he has to protect.
 ● Asimov is widely credited with popularizing the term "robot," which was first
mentioned in his 1942 short story "Runaway." But perhaps Isaac Asimov's most
important contribution to the history of robotics is his three laws of robotics:
1) A robot may not injure a human being, or by inaction allow a human being to come to
harm.
2) A robot must obey orders given to it by humans, unless those orders conflict with the first
law.
3) A robot must protect its own existence, as long as this protection does not conflict with the
first or second law.
Asimov later added "Zeroth Law" to the list. Zeroth Law: A robot may not injure a human
being, or by inaction allow a human being to come to harm.
● Alan Turing publishes Computing Machinery and Intelligence, in which he proposes a
test to determine whether a machine has the ability to think for itself.
● George Devol invented the first truly modern robot in 1954, called the Unimate, which
was digitally operated and programmable. The Unimate was sold to General Motors
in 1960 and installed at a Trenton, NJ plant in 1961 to lift and stack hot metal sheets
from die casting machines.
● In 1959, John McCarthy and Marvin Minsky founded the Artificial Intelligence
Laboratory at the Massachusetts Institute of Technology (MIT), and left MIT in 1963
to found the Artificial Intelligence Laboratory at Stanford University. After founding the
lab, Stanford Research Institute (later known as SRI Technology) created Shakey,
the first mobile robot to know and respond to its own movements. Among other
accomplishments, SRI is also the institute that helped us develop Tide in 1966 to
develop modern laundry detergents. That same year, Joseph Weizenbaum created
an artificial intelligence program called ELIZA at MIT.

● In 1969, Victor Scheinman, a mechanical engineering student working at the Stanford

Artificial Intelligence Laboratory (SAIL), created the Stanford Arm, whose design
influences the design of robotic arms today.
● In 1970, Stanford University produced the Stanford Cart, which was designed as a
line follower but could also be controlled by a computer via a radio link.
● Victor Scheinman started his own company and in 1974 began selling the Silver Arm,
which assembled small parts using touch sensors.
● The Stanford CartSoft Gripper was designed by Shigeo Hirose in 1976 to wrap
around objects like a snake.
● 1978 Development of the 4-axis robotic arm SCARA, the Selectively Compliant
Assembly Robotic Arm. Best suited for picking up parts and placing them elsewhere,
it was introduced to assembly lines in 1981.

● Built in 1970, the Stanford shopping cart was rebuilt in 1979 by Hans Moravec by
adding a more powerful vision system, allowing greater autonomy. These are some of
the first experiments in 3D environments.
● In 1981, Takeo Kanade made a direct drive arm, the first to have a motor built directly
into the arm joint. This change has resulted in this design being faster and more
accurate than previous robotic arms.
● In 1986, LEGO partnered with the MIT Media Lab to bring the first LEGO-based
educational product to market. The LEGO tc logo has been used in the classroom by
thousands of elementary school teachers.
● That same year, Honda began its humanoid robot research and development
program to create robots that could successfully interact with humans.
 ● In 1989, the mobile robotics group MIT demonstrated a hexapod walking robot
named Genghis at MIT using 4 microprocessors, 22 sensors, and 12 servo motors,
Rodney Brooks and A.M. Flynn published the paper "Fast, Cheap and Out of Control:
A Robot Invasion of the Solar System" in the Journal of the British Interplanetary
Society. This paper shifted Rover research from building one large, expensive robot
to building many small, cheap robots, while also enabling The idea of building a robot
is more acceptable to ordinary people.
● In 1993, Carnegie Mellon University developed an eight-legged robot named Dante to
collect data from harsh environments similar to those we find on another planet.
However, Dante was unable to collect the gas due to a damaged fiber optic cable. In
1994, a Dante II, stronger than its predecessor, dived into the crater of Alaska's Mt.
Spurr volcano and successfully completed the mission.
● Robotuna, a bioinspired robot that mimics the swimming of a bluefin tuna, was built
by David Barrett in 1996 as a PhD student at MIT.
● Honda's P2 humanoid robot debuted in 1996. Standing for "Prototype Model 2," P2 is
an integral part of Honda's humanoid development program; at over 6 feet tall, P2 is
smaller than its predecessor and appears more human-like in its movements.
● In 1997, the Pathfinder mission landed on Mars. In early July, its robotic rover
Sojourner rolled down a slope and landed on Martian soil. Through September, it
continued to send data from the surface of Mars. Sojourner operated semi-
autonomously on the surface of Mars as part of the Mars Pathfinder mission,
equipped with obstacle avoidance procedures. Sojourner is capable of planning and
navigating routes to study planetary surfaces. Sojourner's ability to navigate with little
data about its surroundings and surrounding area enables the robot to react to
unplanned events and objects.
● Sony's AIBO robot dog was launched in 1999. AIBO is capable of interacting with
humans. Sony also followed up with the Sony Dreambot, a small humanoid robot in
development for entertainment. Launched in 2000, Honda's famous ASIMO robot is
the state-of-the-art result of Honda's humanoid project. ASIMO can run, walk,
communicate with people, interact with its surroundings, and recognize sounds and
gestures.
● From January 3 to 24, the Mars rovers Spirit and Opportunity landed on the surface
of Mars. Introduced in 2003, the two robots have traveled several times the distance
originally projected and are still running.
● In 2005, Honda introduced an updated version of ASIMO with new behavior and
functionality.
● In 2006, Cornell University developed a quadruped robot called Starfish that was able
to model itself and learn to walk after damage.

Uses of Robots
Robots are largely used to perform various tasks and to make human life easy. They are
widely used in manufacturing assembly and packing, transport, earth and space exploration,
surgery, laboratory research and mass production of consumer and industrial goods.
Health Care
Advances in robotics have the potential to transform a variety of medical practices, including
surgery, rehabilitation, therapy, patient care, and daily activities. Robotic instruments used in
healthcare are not meant to take over the tasks of healthcare professionals, but to facilitate
their work. For example, the da Vinci Surgical System uses a surgeon's hand movements to
control tiny precision instruments inside a patient. This enables minimally invasive
interventional procedures such as cardiac, bowel, gynecological, head and neck, thoracic
and urological procedures. Patients with stroke, spinal cord injury or paralysis can use
robotic devices such as exoskeletons to support and guide them during their rehabilitation. In
addition, robotic cranes can help nurses lift elderly or mobility-impaired patients.
Companionship and therapy robots like Paro can also use a system of sensors, microphones
and cameras to comfort patients with mental health issues.

Military
In the field of military and public security, robot technology is applied to many fields. One
highly visible area involves drones. These machines can be used for surveillance and
support operations on the battlefield. Military drones are used to assess threat levels and
provide real-time information to soldiers and first responders as they fly over areas of war
and conflict, hostage-taking, and natural and man-made disasters. Drones are revolutionizing
civil defense as they can reach dangerous areas faster and more accurately without
endangering human responders. Robotic devices are already widely used in several
commercial industries. As robotics become more affordable, they will soon be available to
consumers in various forms and will be able to impact our lives in many ways.

Manufacturing
Robotics is used in many aspects of manufacturing to increase productivity and efficiency
while reducing production costs. Similar to the healthcare industry, many robots in
manufacturing work in conjunction with workers, performing repetitive, monotonous or
complex tasks under the worker's direction and control. For these machines, precision is
more important than speed, as is the ability to be reprogrammed for specific jobs of varying
sizes and complexities. Robotic manufacturing techniques are also increasingly safer to
operate. Cameras, sensors, and automatic shut offs allow the robot to recognize and keep
people away from the workplace.

Agriculture
In an effort to increase productivity while reducing overall costs, the agricultural industry has
been actively adopting various forms of robotics. Farmers are already using tractors and
harvesters that control themselves through GPS. Recently, there has been an increase in
experimental use of autonomous systems that can automate operations such as pruning,
thinning, mowing, spraying, and weeding. Sensor technology is also used to control pests
and diseases that affect crops.

Food Preparation
One of the more extravagant advances in robotics will soon be in the kitchen. Automated and
intelligent robots — like the one invented by Moley Robotics — will be able to prepare and
cook hundreds of foods in the home kitchen. The robotic chef is controlled via a smartphone,
and once the controller has selected a recipe and arranged pre-packaged containers of cut
ingredients, the robot can quickly and efficiently prepare pre-ordered meals. Moley Robotics
is also developing a consumer-friendly robotic kitchen that includes a built-in smart
dishwasher and refrigerator.

Types of Robots
Mechanical robots came in all shapes and sizes to efficiently carry out the task for which they
are designed. All robots vary in design functionality and degree of autonomy from the 0.2
millimeter long robobee to the 200 meter long robotic shipping vessel vine skip.obots are
emerging to carry out tasks that humans simply can’t
Generally there are 5 types of robots

1) Pre-programmed robots
2) Autonomous Robots
3) Teleoperated Robots
4) Augmenting Robots
5) Humanoid Robots

1) Pre-programmed Robots
Pre-programmed robots operate in a controlled environment where they do simple
monotonous tasks an example of a pre-programmed robot would be a mechanical arm on an
automotive assembly line he arm serves one function to weld a door on to insert a certain
part into the engine etc and it’s job is to perform the task longer faster and more efficiently
than a human.

2) Autonomous Robots
Autonomous robots operate independently of human operators. These robots are usually
designed to carry out tasks in open environments that do not require human supervision.
They are quite unique. Because they use sensors to perceive the world around them and
then employ decision making structures, usually a computer to take the optimal next step
based on their data and mission. An example of an autonomous robot would be the roomba
vacuum cleaner which uses sensors to roam freely throughout a home

3) Teleoperated Robots
Teleoperated robots are semi-autonomous spots that use a wireless network to enable
human control from a safe distance. These robots usually work in extreme geographical
conditions whether circumstances etc. Examples of tele-operated robots are the human
controlled submarines used to fix underwater pipe leaks during the oil spill or drones used to
detect lanslines on a battlefield.

4) Augmentic Robots
Augmentic robots either enhance current human capabilities or replace the capabilities a
human may have lost the field of robotics for human augmentation is a field where science
fiction could become reality very soon with robots that have the ability to redefine the
definition of humanity by making humans faster and stronger some examples of current
augmenting robots are robotic prosthetic limbs or exoskeletons used to lift hefty weights.

5) Humanoid Robots
Humanoid robots are robots that look like and mimic human behavior. These robots usually
perform human-like activities like running, jumping and carrying objects and they are
sometimes designed to look like us even having human faces and expressions. Two of the
most prominent examples of humanoid robots are Sophia ( Hanson Robotics) and Atlas
(Boston Dynamics)

Boston Dynamics
Boston Dynamics was founded in 1992.
The company started off by creating realistic 3D computer simulations for aircraft launch
operations for the Navy. But not long after they started making physical robots.

BigDog
The first robot Boston Dynamics created was the BigDog in 2005. The robot was designed to
be able to carry heavy gear for soldiers in terrains too rough for vehicles. Instead of wheels it
had four legs allowing it to move across surfaces that would defeat wheels. BigDog ws 3 feet
long and stood 2.5 feet tall, making it about the size of a small mule.
The robot was surprisingly proficient at keeping its legs under itself. Even when it was kicked
by its tester the BigDog didn’t fall.
BigDog was able to carry 340 pounds and climb at a 35 degree incline.
In 2010 BigDog was improved; it could run at 5 miles per hour and handle different terrains.
In 2012 the latest generation known as the legged squad support system or LS3 was
developed. It was a significant upgrade compared to BigDog and could operate in hot, cold,
wet, etc. It could also run faster at 7 miles per hour and was roughly 10 times quieter.

PETMAN
In 2009 Boston Dynamics started working on a human-like robot named Petman.
The robot could walk at 3.2 miles per hour. Petman has “hydraulic actuators” which act as
muscles. In total Petman has 30 hydraulic actuators.
In 2011 PETMAN received a significant upgrade and besides walking could also do squats
and push-ups. PETMAN which stands for Protection Ensemble Test MAnnequin was
developed for the U.S. Army who planned to use the robot to test chemical suits and
additional protective gear used by troops.

Sand Flea
Sand Flea is another robot developed for the U.S. army and it has no trouble jumping over a
two-story building. The piston is powered by CO2 and can make 30 jumps in a row before
running out of power.
Sand Flea was designed as handy surveillance on places that would otherwise be
inaccessible or too dangerous for humans. The tricky part of the process was keeping Sand
Flea oriented as steadily as possible during the jump since it was also intended to record
videos while in midair.

Cheetah
Cheetah was the first attempt to create a fast running robot to boost Cheetah’s speed; it
wasn't just a matter of increasing the energy. It also includes a biologically-inspired
choreography of interactions between the robot’s feet, legs and back. The Cheetah can
reach 28.3 miles per hour.

Wild Cat
Wild Cat was a four legged robot developed in 2011. It can run fast on all types of terrains.
Wild Cat even became the fastest quadruped robot on Earth, running at 20 miles per hour
while maneuvering and maintaining its balance. It could even turn while running.

Atlas
Atlas is a humanoid robot based on the PETMAN robot the company had created in 2009.
“Atlas is the culmination of over a decade of hydraulic humanoid work at Boston Dynamics.”
Originated in 2013, Atlas stood 6’2’’ tall and weighed 330 pounds. The company initially
made the robot for the DARPA Robotics challenge; a competition meant to accelerate
robotics technology development to aid response efforts to natural and human-made
disasters. The robot has undergone significant changes since its debut.
In 2016, Atlas received a new design with a height of about 5 feet tall. The new version of
Atlas is designed to operate both outdoors and inside buildings. It uses sensors in its body
and legs to balance and LIDAR and stereo sensors in its head to avoid obstacles.
In 2017, Atlas was improved even further so that it could jump. But more impressively it can
do a backflip . With the next generation in 2018, Atlas could run outdoors.
During the development process new techniques were developed allowing Atlas to use its
whole body with complex algorithms to calculate the speed and coordination of its
movement.
It learnt to do parkour and could do tricks with a success rate of about %80.
In 2021 the humanoid robot could finish a whole parkour.
Why did they teach the robot to do parkour?
Benjamin Stephens ( Atlas Controls Lead): “At a practical level it’s a platform for us to do
R&D on and as an Atlas Team were encouraged to push that platform to it’s limit like; do the
most crazy, exciting high power stuff we can do with it and so we’re always expanding and
pushing the limits of Atlas’s capabilities and the hopefully by extension extending the
capabilities of the company”
So pushing the limits on Atlas pushed the innovation for both hardware and software that
translates to all other robots at Boston Dynamics.

Spot
The original spot which has since become Spot Classic became a turning point in Boston
Dynamics robot evolution. It was designed for both indoor and outdoor operations. Weighing
in at around 160 pounds, it was faster,smaller and more agile than the BigDog models that
came before it . This size reduction comes from using an electronic instead of a gas engine
to power its hydraulics system. The company describes spot Classic as the machine that
quotes “Laid the groundwork for the strong dynamic robot control seen on Spot today.”
Multiple iterations were made including Spot Mini in 2016 which is smaller version weighing
55 lbs.
The robot is all-electric and runs for about 90 minutes on a charge one year later Spot
received a new design. It is one of the quietest robots the company has ever built. Some
versions also include an arm, allowing it to do more tasks like opening doors. Spot was also
able to do more tasks autonomously, including navigating through the lab facility. It uses data
from the cameras to localize itself in the map and to detect and avoid obstacles.
Spot was the first robot the company released commercially.
In June 2020 it will become available for consumers for 74.500 dollars.
Spot has already been used in hospitals ,police ,fire departments and construction sites. The
robot is used for a huge variety of applications. It can autonomously collect data, capture and
monitor sites carry up to 14 kilograms of equipment, explore terrains and it can also be used
for custom tasks.
Spot’s arm can pick up, carry and drag items. It has a 4K camera and a LED illuminator to
inspect objects. It can also do other tasks like turn values, flip levers or open doors.

Handle
In 2017 Handle was introduced which the company has declared as quote “A research
venture into wheeled robots.”
The wheeled robot stands 6.5 feet tall and can reach a top speed of 9 miles per hour. Handle
is designed for logistics and can handle tasks like picking up boxes and placing them
somewhere else.
In 2021, two more commercially available robots were introduced for warehouse operations.
The first is Pick and uses machine learning algorithms to depalletizer fast and accurately.
The second is Stretch. Stretch is a versatile mobile robot that can unload trucks and build
pallets. These robots can work autonomously.
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