Robotics Sensing, Actuation, Control

Overview of Robotics: Sensing, Actuation, and Control

• A robot consists of a body, sensors for perception, effectors for action, and a control mechanism for behavior.

• The body of a robot can be mechanomorphic, zoomorphic, or anthropomorphic, and can be made of hard or soft materials.

• Degrees of Freedom (DoF) refer to the number of independent parameters that define the configuration of a body, with a rigid object in 3D space having six DoF.

• Sensors in robotics can be cameras, microphones, infrared, ultrasound, LIDAR, compass, gyroscope, GPS, and more.

• Percepts can be low-level (such as light level, color, sound, temperature, proximity, contact, texture, smell, tilt, position, acceleration, voltage, current) or high-level (such as objects, people, scenes, or abstract intentions and meanings).

• Effectors in robotics generate movement, light, sound, and can be used for locomotion, manipulation, or signaling.

• Interaction in robotics involves simultaneous sensing and actuation, including interaction with the environment, other agents, and itself.

• Control in robotics is the source of intelligence and behavior, with approaches including reasoning, planning, learning, perceiving, and doing.

• Cybernetics, the study of control and communication in animals and machines, has influenced the development of robotics.

• Behaviour-Based Robotics (BBR) emphasizes simple living examples of intelligence and a reactive approach, throwing out modelling and planning.

• Layered subsumption architecture is a BBR approach with a focus on robustness in the presence of noisy or failing sensors.

• The world is its own best model, and simplicity and robustness are virtues in robotics design.Introduction to Robotics and Control

• The lecture covers the components of a robot, including body, sensing, actuation, interaction, and control.

• Cybernetics is the study of communication and control in machines and living organisms.

• GOFAI (Good Old-Fashioned Artificial Intelligence) robotics is based on symbolic reasoning and logical rules.

• Sense-Plan-Act is a control architecture that involves perceiving the environment, planning a course of action, and executing it.

• Braitenberg's "vehicles" are simple robots that exhibit complex behaviors based on their sensor-motor connections.

• Behavior-based robotics emphasizes the importance of emergent behavior and decentralized control.

• Deliberative control involves planning and reasoning about actions before executing them.

• Reactive control involves reacting to sensory inputs without explicit planning or reasoning.

• Subsumption architecture is a type of reactive control that involves layering behaviors and allowing higher-level behaviors to interrupt lower-level ones.

• The lecture ends with a call for questions and discussion on the lecture forum.

• The next lecture will cover autonomous systems.

• The slides are copyrighted by the University of Sheffield.

Overview of Robotics: Sensing, Actuation, and Control

• A robot consists of a body, sensors for perception, effectors for action, and a control mechanism for behavior.

• The body of a robot can be mechanomorphic, zoomorphic, or anthropomorphic, and can be made of hard or soft materials.

• Degrees of Freedom (DoF) refer to the number of independent parameters that define the configuration of a body, with a rigid object in 3D space having six DoF.

• Sensors in robotics can be cameras, microphones, infrared, ultrasound, LIDAR, compass, gyroscope, GPS, and more.

• Percepts can be low-level (such as light level, color, sound, temperature, proximity, contact, texture, smell, tilt, position, acceleration, voltage, current) or high-level (such as objects, people, scenes, or abstract intentions and meanings).

• Effectors in robotics generate movement, light, sound, and can be used for locomotion, manipulation, or signaling.

• Interaction in robotics involves simultaneous sensing and actuation, including interaction with the environment, other agents, and itself.

• Control in robotics is the source of intelligence and behavior, with approaches including reasoning, planning, learning, perceiving, and doing.

• Cybernetics, the study of control and communication in animals and machines, has influenced the development of robotics.

• Behaviour-Based Robotics (BBR) emphasizes simple living examples of intelligence and a reactive approach, throwing out modelling and planning.

• Layered subsumption architecture is a BBR approach with a focus on robustness in the presence of noisy or failing sensors.

• The world is its own best model, and simplicity and robustness are virtues in robotics design.Introduction to Robotics and Control

• The lecture covers the components of a robot, including body, sensing, actuation, interaction, and control.

• Cybernetics is the study of communication and control in machines and living organisms.

• GOFAI (Good Old-Fashioned Artificial Intelligence) robotics is based on symbolic reasoning and logical rules.

• Sense-Plan-Act is a control architecture that involves perceiving the environment, planning a course of action, and executing it.

• Braitenberg's "vehicles" are simple robots that exhibit complex behaviors based on their sensor-motor connections.

• Behavior-based robotics emphasizes the importance of emergent behavior and decentralized control.

• Deliberative control involves planning and reasoning about actions before executing them.

• Reactive control involves reacting to sensory inputs without explicit planning or reasoning.

• Subsumption architecture is a type of reactive control that involves layering behaviors and allowing higher-level behaviors to interrupt lower-level ones.

• The lecture ends with a call for questions and discussion on the lecture forum.

• The next lecture will cover autonomous systems.

• The slides are copyrighted by the University of Sheffield.

Overview of Robotics: Sensing, Actuation, and Control

• A robot consists of a body, sensors for perception, effectors for action, and a control mechanism for behavior.

• The body of a robot can be mechanomorphic, zoomorphic, or anthropomorphic, and can be made of hard or soft materials.

• Degrees of Freedom (DoF) refer to the number of independent parameters that define the configuration of a body, with a rigid object in 3D space having six DoF.

• Sensors in robotics can be cameras, microphones, infrared, ultrasound, LIDAR, compass, gyroscope, GPS, and more.

• Percepts can be low-level (such as light level, color, sound, temperature, proximity, contact, texture, smell, tilt, position, acceleration, voltage, current) or high-level (such as objects, people, scenes, or abstract intentions and meanings).

• Effectors in robotics generate movement, light, sound, and can be used for locomotion, manipulation, or signaling.

• Interaction in robotics involves simultaneous sensing and actuation, including interaction with the environment, other agents, and itself.

• Control in robotics is the source of intelligence and behavior, with approaches including reasoning, planning, learning, perceiving, and doing.

• Cybernetics, the study of control and communication in animals and machines, has influenced the development of robotics.

• Behaviour-Based Robotics (BBR) emphasizes simple living examples of intelligence and a reactive approach, throwing out modelling and planning.

• Layered subsumption architecture is a BBR approach with a focus on robustness in the presence of noisy or failing sensors.

• The world is its own best model, and simplicity and robustness are virtues in robotics design.Introduction to Robotics and Control

• The lecture covers the components of a robot, including body, sensing, actuation, interaction, and control.

• Cybernetics is the study of communication and control in machines and living organisms.

• GOFAI (Good Old-Fashioned Artificial Intelligence) robotics is based on symbolic reasoning and logical rules.

• Sense-Plan-Act is a control architecture that involves perceiving the environment, planning a course of action, and executing it.

• Braitenberg's "vehicles" are simple robots that exhibit complex behaviors based on their sensor-motor connections.

• Behavior-based robotics emphasizes the importance of emergent behavior and decentralized control.

• Deliberative control involves planning and reasoning about actions before executing them.

• Reactive control involves reacting to sensory inputs without explicit planning or reasoning.

• Subsumption architecture is a type of reactive control that involves layering behaviors and allowing higher-level behaviors to interrupt lower-level ones.

• The lecture ends with a call for questions and discussion on the lecture forum.

• The next lecture will cover autonomous systems.

• The slides are copyrighted by the University of Sheffield.

Test your knowledge on the fundamentals of robotics and control with this quiz. From the components of a robot to different approaches to control, this quiz covers it all. See how much you know about sensing, actuation, interaction, cybernetics, and more. Challenge yourself and discover new insights into the exciting world of robotics.