ABSTRACT

Since Robotics is a field concerned with the connection of perception to action, using computers;
Artificial Intelligence has a central role in Robotics if the connection has to be intelligent. The
birth of Artificial Intelligence and Robotics took place in the same period (about 50’s), due to the
notion of “intelligent machine”, which naturally leads to robots and Robotics. Robots in use
today are primarily machines with manipulators that can be easily programmed to do a variety of
manual tasks automatically. The robot consists of one or more manipulators (arms), end effectors
(hands), a controller, power supply, and - increasingly - sensors to provide information about the
environment and feedback of performance in task accomplishment. Whereas, Artificial
Intelligence (AI) is a commonly employed appellation to refer to the field of science aimed at
providing machines with the capacity of performing functions such as logic, reasoning, planning,
learning, and perception. The meaning of intelligence in AI can be extended to include an
interleaved set of capacities, including creativity, emotional knowledge, and self-awareness.
Thus, AI deals with the types of problem-solving and decision making that humans continually
face in dealing with the world. And, Robotics challenges AI by forcing it to deal with real
objects in the world.
AI has made significant contributions to each individual component of robots. The use of
"artificial skins" with embedded arrays of touch-sensors, opens the possibility of a robot
eventually being able to determine position, orientation and identity of parts by touch alone.
With the help of advancements in AI, Computer Vision, the most complex of all the sensory
modalities, is now beginning to find its way into robotic control.
Thus, incorporating AI into the field of Robotics, yields truly intelligent robots can determine
their own actions based on their perception and planning abilities. These "intelligent robots" are
capable of adapting to a variety of conditions by changing their actions based on relating the
sensed information to their goals or preprogrammed decision points.

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 TABLE OF CONTENTS

CHAPTER NO. TITLE PAGE NO.

1. INTRODUCTION TO ARTIFICIAL INTELLIGENCE 1

1.1 What is Artificial Intelligence? 1
1.2 Evolution of AI 2
1.3 Parent Disciplines of AI 3
1.4 Application Areas of AI 4

2. ARTIFICIAL INTELLIGENT SYSTEMS 7

2.1 Components of AI Systems 7
2.1.1 The Agent 7
2.1.1.1 Rationality 8
2.1.1.2 Simple Reflex Agents 8
2.1.1.3 Model Based Reflex Agents 9
2.1.1.4 Goal Based Agents 9
2.1.1.5 Utility Based Agents 9
2.1.2 The Environment 9
2.1.2.1 Turing Test 10
2.1.2.2 Types of Environments 10
2.2 Broad Definition of AI 10
2.2.1 Systems That Think Like Humans 11
2.2.2 Systems That Act Like Humans 11
2.2.3 Systems That Think Rationally 11
2.2.4 Systems That Act Rationally 12

3. INTRODUCTION TO ROBOTICS 13
3.1 What is a Robot? 13
3.2 Primitive Functions Accomplished by a Robot 14
3.3 Applications Now and in the Future 14

4. ROBOT ARCHITECTURE 16
4.1 Action of Robots – Actuators 16
4.1.1 Manipulation Actuators 16
4.1.1.1 Manipulator Arm Configurations 16
2.1.1.2 End Effectors 18
2.1.1.3 Control of Robotic Arm 18
4.1.2 Robot Locomotion 20
4.1.2.1 Legged locomotion 20
4.1.2.2 Wheeled locomotion 21
4.1.2.3 Slip/Skid locomotion 21
4.1.3 Action versus Behavior 21

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 4.2 Kinematics & Dynamics 21
4.2.1 Coordinate Transformations 22
4.2.2 Trajectory Selection 22
4.2.3 Dynamics 23
4.3 Perception of Robots – Sensors 24
4.4 Control of Robots 25
4.4.1 Control Architectures 25
4.4.1.1 Reactive Control 25
4.4.1.2 Deliberative Control 26
4.4.1.3 Hybrid Systems 26
4.4.1.4 Behavior-Based Control 26
4.4.2 Control Trade-offs 27
4.4.3 Feedback Control 27
4.5 Autonomy 27

5. INTELLIGENT ROBOTS 28
5.1 Connection between Artificial Intelligence and Robotics 28
5.1.1 Difference in Robot System and AI System 28
5.1.2 Intelligent Robots 28
5.1.3 Need for Intelligent Robots 29
5.1.4 Automated Robots vs. Intelligent Robots 29
5.2 Types of intelligence 30
5.3 Robotics’ Relevance to AI 32
5.3.1 Perception: Machine Vision 33
5.3.2 Hierarchy of Information Representation 34
5.3.3 Emotions 34
5.3.3.1 Classification of Emotions 35
5.3.3.1.1 Kismet’s Emotions 35
5.3.3.1.2 Thayer’s Arousal-valence Plane 35
5.3.3.1.3 Plutchik’s Theory 35
5.3.4 Natural Language Processing (NLP) 36
5.3.4.1 Natural Language Understanding (NLU) 36
5.3.4.2 Natural Language Generation (NLG) 36
5.3.4.3 Steps in NLP 36
5.3.5 Control Structures 37
5.3.5.1 Fuzzy Logic 37
5.3.5.2 Telepresence 38
5.3.6 Key Issues of Robotics vs. AI 38
5.3.6.1 Drawbacks 38
5.3.6.2 Roadblocks to robotics research 38
5.3.7 Applications of Intelligent Robots 38

6. INTRODUCTION TO SWARM INTELLIGENCE 41

6.1 Models of Swarm Behaviors 41
6.1.1 Boids – Birdlike Objects 41
6.1.2 Real World Insect Examples 42

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 6.1.3 Problem Solving with Social Insects 42
6.1.4 Artificial Insects 43
6.2 Swarm Intelligence 43
6.3 Capabilities of Swarm Intelligence 44
6.4 Benefits of Swarm Robotics 46
6.5 Applications of Swarm Robotics 46

7. MODELING SI SYSTEMS 48
7.1 General Swarm Principles 48
7.2 Swarm Intelligence Mechanisms 48
7.3 Modeling Swarm Intelligence Systems 49
7.4 Swarm Technologies – Metaheuristics 49
7.4.1 Particle Swarm Optimization 50
7.4.1.1 PSO Rules 50
7.4.1.2 PSO Algorithm 51
7.4.1.3 Applications of PSO 51
7.4.1.4 PSO and Evolutionary Algorithms 51
7.4.2 Ant Colony Optimization 52
7.4.2.1 Artificial Ants 52
7.4.2.2 ACO Algorithm 52
7.4.2.3 Applications of ACO 53

8. CELLULAR ROBOTIC SYSTEMS: CEBOT 54

8.1 Swarm Robotics 54
8.2 Concept of Cellular Robotic System 54
8.3 Synthetic Biology for Cellular Robots 55
8.4 Artificial Neural Networks 55
8.4.1 Types of Artificial Neural Networks 56
8.4.2 Working of ANN’s 56

CONCLUSION 58

REFERENCES 60

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