the basis of machine learning algorithms that are to be used in robotics. In some industrial robots, the motion planning of robotic arms is done via algorithms such as the Bayesian filter. The Bayes’ rule has some fascinating roles in robotics that is hidden under a single equation:
Figure 2.8 Types of machine learning algorithms.
The above expression can be understood as:
Expression before the integral can be understood as: make a guess and improve it by reading the sensor data.
Expression within integral or after integral can be understood as: draw what we already know and try to guess to make it better.
The above algorithm can be used to derive some other algorithms like:
1 Algorithms for linear and non-linear systems:Linear:− Linear Kalman filterNon-linear:− Extended Kalman filter− Unscented Kalman filter
2 Improved version of Kalman filter: Information filter
3 Particle filter: Used in the Monte Carlo method
4 Histogram filter: For making multidimensional items and histograms
For more algorithms used in robotics please refer to [21, 22].
2.8 Application of Robotics
The growth in technology brings more innovation on a daily basis due to the fact that continuous research and experimentation are going on in every field, and robotics has such a vast application and scope that almost every field is utilizing it in their day-to-day lives to perform intensive tasks where humans fail to perform. Some of the robotics applications include:
1 1) Industrial ApplicationsBeginning with the Industrial Revolution, there has been continuous incremental progress in the uses of robots for manufacturing purposes, and automation has become a key aspect in the industry as robotic arms are capable of performing various tasks such as welding, cutting, bending, moving, painting, etc. Therefore, they are intensively utilized to perform various operations in industry.Some of the most common robots that are used in industry are:Articulated robotsScararobotsDelta robotsCartesian coordinate robotsCylindrical coordinate robotsSpherical coordinate robotsFor more details refer to [23].
2 2) Healthcare Service ApplicationsHealthcare is the most prominent and sophisticated industry that requires the greatest attention as it counts as a basic entity for any nation. So, it becomes important to open the doors of innovation for this sector also. Although it is under development, some experiments are going on to use robots to replace nurses to perform some of their common tasks such as providing timely medicine to patients, changing their clothes, dressing their wounds, lifting patients up, etc.Some of the medical robots changing the healthcare industry are:DaVinci is a system capable of performing surgical operations with tiny incisions and utmost precision.EndoscopyBot is a camera embedded in the robot which enters the body through a natural opening and searches for the damaged parts or any foreign material stuck somewhere in the body and traces the disease caused by them.Orthoses (Exoskeletons) are useful for patients with walking abnormalities due to surgery to help them walk and also provoke the weak muscles and make them heal faster.Targeted Therapy Microrobots are of microscopic size and help in therapy for specific targets in the body.Some other robots include Disinfectant Bots, Clinical Training Bots, Companion Bots, Telepresence Robot Surrogates, Robotic Nurses, Robotic-Assisted Biopsy, etc. [25].
3 3) Outer Space ApplicationsRobots are now widely used in outer space exploration. They are sent as unmanned vehicles to space to explore new planets, stars, and other celestial bodies. The most famous robot was the Mars Rover by NASA which was sent to explore the planet Mars. Spirit and Opportunity were two other robots sent to Mars, whose robotic arms were used to investigate soil and rocks on the Red Planet. Other robots, such as the Phoenix Mars Lander and Curiosity Rover, were also sent for further exploration.
4 4) Military ApplicationsDefense is the key element for running a nation and therefore any nation invests much more in their defense system. So, robots can play a major role in making defense systems [26] more effective and secure. Lots of research is going on to make advanced robotic systems for the army and defense. One such pioneering robot developed was the Predator drone with unmanned aerial vehicles that can take photographs with greater accuracy and can launch missiles accurately to the target without any pilot.Some key points of why robots can be used in military applications are:They can’t get tiredThey don’t know what fear isThey can open their eyes day and nightThey don’t hideThey don’t talk while on dutyThey can perform their duty in any weatherThey don’t have health risksThe above points are enough to describe why robots can be beneficial for military purposes.
5 5) Other ApplicationsOther applications include:Smart home systems that intelligently monitor home security, manage energy usage, maintain proper temperature, clean houses, and provide proper lighting and airconditioning based on requirementsSmart traffic systemIn making real-life gamesRobotic police/copsDriving assistant, etc.
Figure 2.9 below depicts various applications of robots in our day-to-day lives.
Figure 2.9 Applications of Robotics.
2.9 Case Studies
2.9.1 Sophia
Sophia, a robot that became the world’s first robot citizen [28], is also the first robot that can express feelings. It is a humanoid robot that is the brain-child of the American company Hanson Robotics and was developed in Hong Kong by the head creator David Hanson. The main quality of Sophia is that it understands and learns from human behavior by interacting with people. It looks just like humans, with a face which was designed to look similar to Audrey Hepburn, a British actress. It is her amazing qualities that led the Saudi government to honor her with the first robot citizen of the country at the Future Investment Summit held in Riyadh on October 25, 2017 [29]. Sophia has an attractive female face and her eyes are the camera that can recognize the person and say hello to them by their name [30]. Sophia can make about 62 facial expressions and also has a sense of humor. She keeps on learning and is getting better every day. The gap between humans and robots is decreasing day by day. Sophia is a state-of-the-art humanoid that has changed the robotic world and the day is not far off when there will be no difference between the thoughts of machines and humans.
2.9.2 ASIMO
Honda’s ASIMO is a four feet tall humanoid robot that can work as a perfect companion in our homes. It was developed by scientists at Honda technologies. The design of its body is human-like, and it can talk and can recognize and interact with people. It can play with children by tossing a coin and also can serve cold drinks by opening the bottle with his own hands. It has a great working capability and can be used in stores for customer service. ASIMO can also run like humans with a speed of 3.5 mph.
However, it is not yet available for the proposed purpose and Honda [27] is continuously working to perform some advanced upgrades to make it
