Introduction to Robotics
Technical Talk on Empowering Innovations in Robotics by Mr. Ajit Kumar, Founder & CEO, Stepupify Labs
What is a Robot ?

Robotics - A Multidisciplinary Domain

Robots - Application Examples
Sophia - The Humanoid Robot



A Robot Serving Food

Surveillance Robot for Parking Area

Robots dousing the uncontrollable fire - very difficult for fireman.

Robots for E-Commerce & Logistics

Ware House Robots

Power Substation Robot for Autonomous Inspection

Robots by Boston Dynamics–Humanoid & Legged


Robot Architecture

Sensors
We live in a World of Sensors. You can find different types of Sensors in our homes, offices, cars etc. working to make our lives easier by turning on the lights by detecting our presence, adjusting the room temperature, detect smoke or fire, make us delicious coffee, open garage doors as soon as our car is near the door and many other tasks.
A sensor is a device, module, machine, or subsystem whose purpose is to detect events or changes in its environment and send the information to other electronics, frequently a computer processor. A sensor is always used with other electronics.
Sensors – for Position, Distance & Orientation

Sensors – Different types

Controller
The robot connects to a computer, which keeps the components of the robot working together. This computer is the controller. The controller functions as the "brain" of the robot.
The controller can also network to other systems, so that the robot may work together with other machines, processes, or robots.
Controllers/Computers for Robots




Actuators
An actuator is a part of a device or machine that helps it to achieve physical movements by converting energy, often electrical, air, or hydraulic, into mechanical force. Simply put, it is the component in any machine that enables movement.
Two basic motions are rotary and linear.
Rotary actuators convert energy into rotational motion or torque.
Linear actuators convert energy into straight line motions, typically for positioning applications, and usually have a push and pull function.
Motors– The Rotary Actuators
Motors are used with required reduction gearing/gearbox to produce the output torque needed in application.


Motors – DC Motor Types

Linear Actuators
- Lead Screw
- Ball Screw
- Timer-Pulley & Guide Rod


Functioning of Robots - An Overview

Wheeled & Tracked Robots
Unicycle Robot
Two Wheel–Self Balancing Mechanism
Differential Drive - Mechanism

Skid Steer - Mechanism

Skid Steer-Industrial/Heavy Vehicle Applications


Skid Steer Robots & Robotic Kits at Stepupify Labs
Skid Steer – Research Robot Platforms


Tracked Robot – Skid Steer Mechanism
Pragyan Rover by ISRO – Application of Skid Steer

Synchro Drive
Mecanum Wheel Drive
Omni Wheel Drive
Mars Rover - Rocker Bogie Suspension


Skid Steer & Rocker Bogie Suspension
Manipulators

Application of Manipulators

Forward Kinematics & Inverse Kinematics

Maths Involved :
Transformation Matrix
Jacobian
D-H Parameters
Numerical Methods

SCARA - 2 DOF for positioning in plane


Inverse Kinematics of SCARA

Forward Kinematics & Inverse Kinematics - Methodology


5 DOF Manipulator - Kinematics


DH Parameters
Numerical Methods
Inverse Kinematics – Process in Action On Robot


Inside Manipulator – Harmonic Drives (High Reduction to Weight Ratio)


Speed-ratios-as high as 320 to 1 in single- reduction Harmonic Drives-that are lighter, smaller, and more efficient than conventional high-ratio drives. Compound-drives-can produce-ratios-as high as 1,000,000 to 1.
Harmonic Drives – Backlash free required for repeatability & accuracy in positioning of end-effector . It provides massive torque amplification for lifting payloads with lesser weight.
Legged Robots

Biped Robots

Crab like Robots – Quadruped , Hexapod, Octopod, etc



DIY Quadruped robot :
Hexapod
Octapod
Human Like Walking Robot
HRP-4C Miim's Human-like Walking
Gait Generation for Legged Robots
Gait generation –formulation and selection of a sequence of coordinated leg and body motions that propel a legged robot along a desired path.
Modelled using - kinematic, collision, terrain, support, and stability constraints available for gait generation
Gait Generation Examples
Wild Cat
Atlas – Boston Dynamics
Robots /Robotics Kits for Education & Research
Visit here to watch the videos of Educational Robots on YouTube: Educational Robots at Stepupify Labs