INTRODUCTION

Compliant Robotics-Humanoids to soft robots

Centre for Robotics Research – School of Natural and Mathematical Sciences – King’s College London

Hongbin Liu

Compliant Robotics Peking University, Globex, July 20182

Definition of Robot

“A robot is usually an electromechanical machine

that is guided by a computer program or electronic

circuitry. Robots can be autonomous or semi-

autonomous”

A Czech writer Karel Čapek

first user of the term 'robot'

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History of pre-modern “robots”

1495 Da Vinci

1709 Vaucanson

1820s Turk

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History of Industrial robots (1950 - today)

1950s (Iron hand)

1969: the first industrial spray painting robot ABB

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History of Industrial robots (1950 - today)

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History of Industrial robots (1950 - today)

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Robots-Beyond the fence – Factory

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Robots-Beyond the fence- Manipulators

• Share the space with human

• Safely interact with human

• Active compliant control

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Robots-Beyond the fence –Humanoids

• Share the space with human

• Safely interact with human

• Adapt to uncertain environment

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Robots-Beyond the fence –Flexible/Soft Robots

• Safely interact with human

• Navigate unreachable spaces

• Adapt to uncertain environment

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A Brief History of Soft Robots

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Robots-Beyond the fence –Flexible/Soft Robots

Flex-system

OCRobotics, UK, Inspection

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1990 2010

Soft Robots 2010: the beginning of growth

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Soft Robots 2010

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Soft Robots 2010

Festo – Gemany, Bionic Handling Assistant

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Soft Robots 2010

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Robotic Octopus -2010

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Soft Robots in Medicine - 2012

King’s College London, 2012

Harvard University

2017

2013

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Octopus inspired Soft Robots for surgery

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Octopus inspired Soft Robots for surgery

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Soft Robots hand

Passive compliance to increase adaptiveness

Pisa

Harvard

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Soft worm robots

Koichi Suzumori

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Robots-Beyond the fence –Compliant walking

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Robots-Beyond the fence –Soft worm robots

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Compliance in the new generation of robots

• Robotic manipulators

– Rigid links, compliance obtained from motor control

• Humanoid

– Rigid links and compliant joints

• Flexible Robot

– Multiple rigid links and compliant joints

• Soft robots

– Elastic material body structure

What can we see from the overview

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What can we see from the overview

Compliance

Passive compliance: Soft/flexible structure

Active compliance: Control

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Future Robots

• Interact with human

• Adaptive to environment and disturbance

• Better sense of the surroundings

What can we see from the overview

Key Enabler

Creating robot with compliance to increase adaptiveness,

flexibility and safety

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Course overview

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How to make a physical robot work ?

Robot Sensing/Actuation

Self-awareness

Inter-action control

Robot Intelligence

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Course coverage

Robot Sensing/Actuation Sensor for flexible structures Soft sensors and actuators

Self-awareness Modelling of the robot (Kinematics/Compliance)

Inter-action control Position control Force/compliance control

Robot Intelligence Path planning How to handle uncertainty

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Sensors and Actuators

Encoder actuation/sensing for compliant structure

Motor

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Modelling of the robot

Linear Algebra Essentials

Forward Kinematics of Rigid Links

Kinematics of Continuum robots

Stiffness analysis

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Inverse Kinematics- Position Control

Inverse Kinematics

Analytical Jacobian

Singularity

Redundancy

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• Feedback force control

• Compliance control

• Passive and Active compliance together

Force and Compliant Control

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• Potential Field planning

– three-link robot arm

– continuum robot arm

Path planning

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• Gaussian model

• Kalman Filter

• Bayesian Filter

Handle uncertainties

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• PDF version of lecture slides will be available

• Globex students only, not for distribution

Teaching slides

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• Sebastian Thrun, Wolfram Burgard, Dieter Fox, ProbabilisticRobotics, The MIT Press, 2005.

• Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo, Robotics: Modelling, Planning and Control, Springer-Verlag London, 2009.

References

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Assessment

• In class coding practice (unmarked)

• 2 Individual Projects @ 15% each, 30%

• 1 Final Teamwork Project (Team Presentation) 30%

• Final Exam 40%

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Projects-Matlab for programming

Matlab (highly recommend)

Syntax, operators, commends, loop, variables

http://www.tutorialspoint.com/matlab

Matlab matrix

http://www.tutorialspoint.com/matlab/matlab_matrics.htm

Matlab vector

http://www.tutorialspoint.com/matlab/matlab_vectors.htm

GUN Octave

if Matlab is not available

Most of Matlab code can run in Octave

\http://www.gnu.org/software/octave/

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Projects-Matlab for programming

Project 1- 15%

Week 1 Release on Thursday, Friday tutorial,

Submission on Monday next week by 5pm

Create the forward kinematics model for a 2D two-segment flexible arm based

on constant curvature model.

Project 2- 15%

Week 2 Release on Thursday, Friday tutorial,

Submission on Monday next week

Position control of a 2D three-link manipulator, kinematics with redundancy

Submit your code by emailing to @pku.edu.cn

TA:

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• Final project- flexible manipulator, compliant control, path planning

• Announce at Monday of Week 3 – Presentation on Friday 30%

– Each group 3-4 students, presentation 10 minutes each group –strict time restriction.

– Evaluation: soundness of technical content, team work synergy, presentation structure, clearness.

– Each group member has distinctive and complementary task(s)

Group Project

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• Final Exam 40%

• content will closely follow the lecture slides

Final Exam