At present, mostly (leadacid) batteries are used as a power source. Many different types of batteries can be used as a power source for robots. They range from leadacid batteries, which are safe and have relatively long shelf lives but are rather heavy compared to silvercadmium batteries that are much smaller in volume and are currently much more expensive. Designing a battery-powered robot needs to take into account factors such as safety, cycle lifetime and weight. Generators, often some type of internal combustion engine, can also be used. However, such designs are often mechanically complex and need a fuel, require heat dissipation and are relatively heavy. A tether connecting the robot to a power supply would remove the power supply from the robot entirely. This has the advantage of saving weight and space by moving all power generation and storage components elsewhere. However, this design does come with the drawback of constantly having a cable connected to the robot, which can be difficult to manage. Potential power sources could be:
Actuators are the "muscles" of a robot, the parts which convert stored energy into movement. By far the most popular actuators are electric motors that rotate a wheel or gear, and linear actuators that control industrial robots in factories. There are some recent advances in alternative types of actuators, powered by electricity, chemicals, or compressed air.
The vast majority of robots use electric motors, often brushed and brushless DC motors in portable robots or AC motors in industrial robots and CNC machines. These motors are often preferred in systems with lighter loads, and where the predominant form of motion is rotational.
Various types of linear actuators move in and out instead of by spinning, and often have quicker direction changes, particularly when very large forces are needed such as with industrial robotics. They are typically powered by compressed and oxidized air (pneumatic actuator) or an oil (hydraulic actuator).
A flexure is designed as part of the motor actuator, to improve safety and provide robust force control, energy efficiency, shock absorption (mechanical filtering) while reducing excessive wear on the transmission and other mechanical components. The resultant lower reflected inertia can improve safety when a robot is interacting with humans or during collisions. It has been used in various robots, particularly advanced manufacturing robots and walking humanoid robots.
Pneumatic artificial muscles, also known as air muscles, are special tubes that expand(typically up to 40%) when air is forced inside them. They are used in some robot applications.
Muscle wire, also known as shape memory alloy, Nitinol or Flexinol wire, is a material which contracts (under 5%) when electricity is applied. They have been used for some small robot applications.
EAPs or EPAMs are a new[when?] plastic material that can contract substantially (up to 380% activation strain) from electricity, and have been used in facial muscles and arms of humanoid robots, and to enable new robots to float, fly, swim or walk.
Recent alternatives 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 step the motor in a circle or a straight line. Another type uses the piezo elements to cause a nut to vibrate or to drive a screw. The advantages of these motors are nanometer resolution, speed, and available force for their size. These motors are already available commercially, and being used on some robots.
Elastic nanotubes are a promising artificial muscle technology in early-stage experimental development. The absence of defects in carbon nanotubes enables these filaments to deform elastically by several percent, with energy storage levels of perhaps 10J/cm3 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.
Sensors allow robots to receive information about a certain measurement of the environment, or internal components. This is essential for robots to perform their tasks, and act upon any changes in the environment to calculate the appropriate response. They are used for various forms of measurements, to give the robots warnings about safety or malfunctions, and to provide real-time information of the task it is performing.
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. 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 impedance-measuring 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.
Scientists from several European countries and Israel developed a prosthetic hand in 2009, called SmartHand, which functions like a real oneallowing patients to write with it, type on a keyboard, play piano and perform other fine movements. The prosthesis has sensors which enable the patient to sense real feeling in its fingertips.
Computer vision is the science and technology of machines that see. As a scientific discipline, computer vision is concerned with the theory behind artificial systems that extract information from images. The image data can take many forms, such as video sequences and views from cameras.
In most practical computer vision applications, the computers are pre-programmed to solve a particular task, but methods based on learning are now becoming increasingly common.
Computer vision systems rely on image sensors which detect electromagnetic radiation which is typically in the form of either visible light or infra-red light. The sensors are designed using solid-state physics. The process by which light propagates and reflects off surfaces is explained using optics. Sophisticated image sensors even require quantum mechanics to provide a complete understanding of the image formation process. Robots can also be equipped with multiple vision sensors to be better able to compute the sense of depth in the environment. Like human eyes, robots' "eyes" must also be able to focus on a particular area of interest, and also adjust to variations in light intensities.
There is a subfield within computer vision where artificial systems are designed to mimic the processing and behavior of biological system, at different levels of complexity. Also, some of the learning-based methods developed within computer vision have their background in biology.
Other common forms of sensing in robotics use lidar, radar, and sonar.
Robots need 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, while the "arm" is referred to as a manipulator. 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.Learning how to manipulate a robot often requires a close feedback between human to the robot, although there are several methods for remote manipulation of robots.
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. Fingers can for example, be made of a chain with a metal wire run through it. Hands that resemble and work more like a human hand include the Shadow Hand and the Robonaut hand. Hands that are of a mid-level complexity include the Delft hand. Mechanical grippers can come in various types, including friction and encompassing jaws. Friction jaws use all the force of the gripper to hold the object in place using friction. Encompassing jaws cradle the object in place, using less friction.
Vacuum grippers are very simple astrictive devices that can hold very large loads provided the prehension surface is smooth enough to ensure suction.
Pick and place robots for electronic components and for large objects like car windscreens, often use very simple vacuum grippers.
Some advanced robots are beginning to use fully humanoid hands, like the Shadow Hand, MANUS, and the Schunk hand. These are highly dexterous manipulators, with as many as 20 degrees of freedom and hundreds of tactile sensors.
For simplicity, most mobile robots have four wheels or a number of continuous tracks. Some researchers have tried to create more complex wheeled robots with only one or two wheels. These can have certain advantages such as greater efficiency and reduced parts, as well as allowing a robot to navigate in confined places that a four-wheeled robot would not be able to.
Balancing robots generally use a gyroscope to detect how much a robot is falling and then drive the wheels proportionally in the same direction, to counterbalance the fall at hundreds of times per second, based on the dynamics of an inverted pendulum. Many different balancing robots have been designed. While the Segway is not commonly thought of as a robot, it can be thought of as a component of a robot, when used as such Segway refer to them as RMP (Robotic Mobility Platform). An example of this use has been as NASA's Robonaut that has been mounted on a Segway.
A one-wheeled balancing robot is an extension of a two-wheeled balancing robot so that it can move in any 2D direction using a round ball as its only wheel. Several one-wheeled balancing robots have been designed recently, such as Carnegie Mellon University's "Ballbot" that is the approximate height and width of a person, and Tohoku Gakuin University's "BallIP". Because of the long, thin shape and ability to maneuver in tight spaces, they have the potential to function better than other robots in environments with people.
Several attempts have been made in robots that are completely inside a spherical ball, either by spinning a weight inside the ball, or by rotating the outer shells of the sphere. These have also been referred to as an orb bot or a ball bot.
Using six wheels instead of four wheels can give better traction or grip in outdoor terrain such as on rocky dirt or grass.
Tank tracks provide even more traction than a six-wheeled robot. Tracked wheels behave as if they were made of hundreds of wheels, therefore are very common for outdoor and military robots, where the robot must drive on very rough terrain. However, they are difficult to use indoors such as on carpets and smooth floors. Examples include NASA's Urban Robot "Urbie".
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. There has been much study on human inspired walking, such as AMBER lab which was established in 2008 by the Mechanical Engineering Department at Texas A&M University. Many other robots have been built that walk on more than two legs, due to these robots being significantly easier to construct. Walking robots can be used for uneven terrains, which would provide better mobility and energy efficiency than other locomotion methods. Hybrids too have been proposed in movies such as I, Robot, where they walk on two legs and switch to four (arms+legs) when going to a sprint. Typically, robots on two 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:
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). However, this is not exactly how a human walks, and the difference is obvious to human observers, some of whom have pointed out that ASIMO walks as if it needs the lavatory. 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.
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. Soon, the algorithm was generalised to two and four legs. A bipedal robot was demonstrated running and even performing somersaults. A quadruped was also demonstrated which could trot, run, pace, and bound. For a full list of these robots, see the MIT Leg Lab Robots page.
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. This technique was recently demonstrated by Anybots' Dexter Robot, which is so stable, it can even jump. Another example is the TU Delft Flame.
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.
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. Other flying robots are uninhabited and are known as unmanned aerial vehicles (UAVs). They can be smaller and lighter without a human pilot on board, 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. 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.
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. The Japanese ACM-R5 snake robot can even navigate both on land and in water.
A small number of skating robots have been developed, one of which is a multi-mode walking and skating device. It has four legs, with unpowered wheels, which can either step or roll. Another robot, Plen, can use a miniature skateboard or roller-skates, and skate across a desktop.
Several different approaches have been used to develop robots that have the ability to climb vertical surfaces. One approach mimics 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, built by Dr. Ruixiang Zhang at Stanford University, California. Another approach uses the specialized toe pad method of wall-climbing geckoes, which can run on smooth surfaces such as vertical glass. Examples of this approach include Wallbot and Stickybot. China's Technology Daily reported on November 15, 2008, that Dr. Li Hiu Yeung and his research group of New Concept Aircraft (Zhuhai) Co., Ltd. had successfully developed a bionic gecko robot named "Speedy Freelander". According to Dr. Li, the gecko robot could rapidly climb up and down a variety of building walls, navigate through ground and wall fissures, and walk upside-down on the ceiling. It was also able to adapt to the surfaces of smooth glass, rough, sticky or dusty walls as well as various types of metallic materials. It could also identify and circumvent obstacles automatically. Its flexibility and speed were comparable to a natural gecko. A third approach is to mimic the motion of a snake climbing a pole..
It is calculated that when swimming some fish can achieve a propulsive efficiency greater than 90%. 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. Notable examples are the Essex University Computer Science Robotic Fish G9, and the Robot Tuna built by the Institute of Field Robotics, to analyze and mathematically model thunniform motion. 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.
In 2014 iSplash-II was developed by PhD student Richard James Clapham and Prof. Huosheng Hu at Essex University. It was the first robotic fish capable of outperforming real carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. This build attained swimming speeds of 11.6BL/s (i.e. 3.7m/s). The first build, iSplash-I (2014) was the first robotic platform to apply a full-body length carangiform swimming motion which was found to increase swimming speed by 27% over the traditional approach of a posterior confined waveform.
Sailboat robots have also been developed in order to make measurements at the surface of the ocean. A typical sailboat robot is Vaimos built by IFREMER and ENSTA-Bretagne. Since the propulsion of sailboat robots uses the wind, the energy of the batteries is only used for the computer, for the communication and for the actuators (to tune the rudder and the sail). If the robot is equipped with solar panels, the robot could theoretically navigate forever. The two main competitions of sailboat robots are WRSC, which takes place every year in Europe, and Sailbot.
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 (e.g. people and other obstacles that are not stationary) can cause problems or collisions. Some highly advanced robots such as ASIMO and Mein robot have particularly good robot navigation hardware and software. Also, self-controlled 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.
The state of the art in sensory intelligence for robots will have to progress through several orders of magnitude if we want the robots working in our homes to go beyond vacuum-cleaning the floors. 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 unnatural for the robot. It will probably be a long time before robots interact as naturally as the fictional C-3PO, or Data of Star Trek, Next Generation.
Interpreting the continuous flow of sounds coming from a human, 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. 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. Currently, the best systems can recognize continuous, natural speech, up to 160 words per minute, with an accuracy of 95%.
Other hurdles exist when allowing the robot to use voice for interacting with humans. For social reasons, synthetic voice proves suboptimal as a communication medium, making it necessary to develop the emotional component of robotic voice through various techniques.
One can imagine, in the future, explaining to a robot chef how to make a pastry, or asking directions from a robot police officer. In both of these cases, 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 likely that gestures will make up a part of the interaction between humans and robots. A great many systems have been developed to recognize human hand gestures.
Facial expressions can provide rapid feedback on the progress of a dialog between two humans, and soon may be able to do the same for humans and robots. Robotic faces have been constructed by Hanson Robotics using their elastic polymer called Frubber, allowing a large number of facial expressions due to the elasticity of the rubber facial coating and embedded subsurface motors (servos). 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 can produce a range of facial expressions, allowing it to have meaningful social exchanges with humans.
Artificial emotions can also be generated, 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 complex and requires a large 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.
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. Nevertheless, researchers are trying to create robots which appear to have a personality: 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.
The Socially Intelligent Machines Lab of the Georgia Institute of Technology researches new concepts of guided teaching interaction with robots. The aim of the projects is a social robot that learns task and goals from human demonstrations without prior knowledge of high-level concepts. These new concepts are grounded from low-level continuous sensor data through unsupervised learning, and task goals are subsequently learned using a Bayesian approach. These concepts can be used to transfer knowledge to future tasks, resulting in faster learning of those tasks. The results are demonstrated by the robot Curi who can scoop some pasta from a pot onto a plate and serve the sauce on top.
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