ABSTRACT

Robotics is the branch of mechanical engineering, electrical engineering and computer

science that deals with the design, construction, operation, and application of robots, as well as
computer systems for their control, sensory feedback, and information processing.
These technologies deal with automated machines that can take the place of humans in
dangerous environments or manufacturing processes, or resemble humans in appearance,
behavior, and/or cognition. Many of today's robots are inspired by nature contributing to the field
of bio-inspired robotics.
The concept of creating machines that can operate autonomously dates back to classical times,
but research into the functionality and potential uses of robots did not grow substantially until the
20th century. Throughout history, robotics has been often seen to mimic human behavior, and
often manage tasks in a similar fashion. Today, robotics is a rapidly growing field, as
technological advances continue, research, design, and building new robots serve various
practical purposes, whether domestically, commercially, or militarily. Many robots do jobs that
are hazardous to people such as defusing bombs, mines and exploring shipwrecks.

1. INTRODUCTION

FIG1: An obstacle avoiding robot[1]

In robotics, obstacle avoidance is the task of satisfying some control objective subject to nonintersection or non-collision position constraints. In unmanned air vehicles, it is a hot topic. What
is critical about obstacle avoidance concept in this area is the growing need of usage of
unmanned aerial vehicles in urban areas for especially military applications where it can be very
useful in city wars. Normally obstacle avoidance is considered to be distinct from path
planning in that one is usually implemented as a reactive control law while the other involves
the pre-computation of an obstacle-free path which a controller will then guide a robot along
There are many types of robots; they are used in many different environments and for many
different uses, although being very diverse in application and form they all share three basic
similarities when it comes to their construction:
Robots all have some kind of mechanical construction, a frame, form or shape that usually is the
solution/result for a set task or problem. For example, if you want a robot to travel across heavy
dirt or mud, you might think to use tracker treads, so the form of your robot might be a box with
tracker treads. The treads being the mechanical construction for traveling across the problem of
heavy mud or dirt. This mechanical aspect usually deals with a real world application of an
object or of itself, example lifting, moving, carrying, flying, swimming, running, walking...etc.
The mechanical aspect is mostly the creator's solution to completing the assigned task and
dealing with the physics of the environment around it, example: gravity, friction, resistance...etc.
Form follows function.
Robots have an electrical aspect to them in them, in the form of wires, sensors, circuits, batteries
etc. Example: the tracker tread robot that was mentioned earlier will need some kind of power to

actually move the tracker treads. That power comes in the form of electricity, which will have to
travel through a wire and originate from a battery, a basic electrical circuit. The electrical aspect
of robots is used for movement: as in the control of motors which are used mostly were motion is
needed. Sensing: electrical signals are used to determine things like heat, sound, position, and
energy status. Operation: robots need some level of electrical energy supplied to their motors
and/or sensors in order to be turned on, and do basic operations.

FIG2: Capuchin-climbing robot[1]

All robots contain some level of computer programming (code). A program is how a robot
decides when or how to do something. Programs are the core essence of a robot, it could have
excellent mechanical/electrical construction, but if its program is poorly constructed its
performance will be very poor or it may not perform at all. There are different types of robotic
programs: RC,AI & hybrid.
1) RC stands for radio control : a robot with this type of program has a preexisting set of
commands that it will only do if and when it receives a signal from a control source, most
of the time the control source is a human being with a remote control. It is perhaps more
appropriate to view devices controlled primarily by human commands as falling in the
discipline of automation rather than robotics.
2) AI stand for artificial intelligence, robots with this kind of programming interact with
their environment on their own without a control source. Robots with AI create solutions
to objects/problems they encounter by using their preexisting programming to decide,
understand, learn and/or create.
3) Hybrid is a form of program that incorporates both AI and RC functions, For example:
your robot may work completely on its own, encounter a problem, come up with two

solutions like an AI system, and then rely completely on you to decide what to do like a
RC system

1.1 Components
1.1.1 IR SENSORS
IR Sensoris an electronic instrument which is used to sense certain characteristics of its
surroundings by either emitting and/or detecting infrared radiation. They are based on the
reflected amplitude of the surrounding objects. They are non-linear in nature & depends on the
reflective characteristics of the object surface. They are able to accurately measure distances with
reduced response time.
IR Sensors are of 3 types:
a. Active Infrared Sensors
b. Break beam sensors
c. Reflectance sensors
The purpose of the IR Sensors are mainly used for distance measurement,surface feature
detection,barcode decoding & as a tracking system.

FIG3: IR Sensors[5]

1.1.2 Microcontroller-8051
They are Single integrated circuit containing a processor,core memory &programmable i/p /o/p
peripherals.Microcontrollers are used in automatically controlled products & devices.The
program memory in the microcontroller is in the form of NOR flash or OTPROM is often
included on the chip.

FIG4: 8051 base board[6]

1.1.3 Drivers(L293D)
Drivers(L293D) is a quadruple bridge-H half bidirectional motor driver IC. It can drive current
of upto 600ma of voltage range upto 4.5 to 36 volts. It drive small DC geared motors,bipolar
stepper motors.

1.1.4 D.C MOTOR

DC Motors are of two types :
o DC Geared motor
o Stepper motor
In DC Geared motors where there is free running torque & currents are ideally zero & with
increased load,increased torque as well as power consumption,In stepper motor it contains higher
precision & is ideal for many autonomous robot. It can be held for a particular position of the
shaft & is used for measured rotation. In DC Geared motor though it can run in both directions.

2. PROGRAMMES

FIG5: PIN DIAGRAM[5]

Following is the programme of obstacle avoiding robot:

#define F_CPU 8000000UL

#include <avr/io.h>
#include <util/delay.h>
int main(void)
{
DDRD = 0xFF;//output port
DDRB=0x00;//input port
while(1)
{
if(((PINB==0x00) && (PINB==0x00)))
PORTD=0x05;//by default it will run in forward direction
if(PINB==0x01)
{
PORTD=0x00;//to move stop for 5sec.
_delay_ms(300);
PORTD=0x0A;//to move in backward.
_delay_ms(300);
PORTD=0x06;//to move towards right.
_delay_ms(300);//wait
_delay_ms(300);//wait
}
if(PINB==0x02)
{
PORTD=0x00;//to move stop for 5sec.

_delay_ms(300);
PORTD=0x0A;//to move in backward.
_delay_ms(300);
PORTD=0x09;//to move towards left.
_delay_ms(300);//wait
_delay_ms(300);//wait
PORTD=0x05;//to move in forward }

3. APPLICATION

Fig4: An application of obstacle avoidance,a multitasking robotic wheelchair which can sense
obstacle & turns its path from their also it could be folded & escalated in many positions[4]

The modification of this logic has been specifically designed for vaccum cleaner. Just by making
small changes in the software this system can be used for avoiding concealed path. With proper
programming it can be used as a weight lifter,auto parking assistance.Further it can be also used
a fire fighting robot.Also by attaching a camera it could work as a spy.
Some more applications are :
a) The Intelligent Home - Automated systems can now monitor home security,
environmental conditions and energy usage. Door and windows can be opened
automatically and appliances such as lighting and air conditioning can be pre
programmed to activate. This assists occupants irrespective of their state of mobility.
b) Exploration - Robots can visit environments that are harmful to humans. An example is
monitoring the environment inside a volcano or exploring our deepest oceans. NASA has
used robotic probes for planetary exploration since the early sixties.
c) Military- Airborne robot drones are used for surveillance in today's modern army. In the
future automated aircraft and vehicles could be used to carry fuel and ammunition or
clear minefields
d) Hospitals - Under development is a robotic suit that will enable nurses to lift patients
without damaging their backs. Scientists in Japan have developed a power-assisted suit
which will give nurses the extra muscle they need to lift their patients - and avoid back
injuries.
e) Disaster Areas - Surveillance robots fitted with advanced sensing and imaging equipment
can operate in hazardous environments such as urban setting damaged by earthquakes by
scanning walls, floors and ceilings for structural integrity.

f) Entertainment - Interactive robots that exhibit behaviours and learning ability. SONY has
one such robot which moves freely, plays with a ball and can respond to verbal
instructions.

4. DESCRIPTION OF PROBLEMS
However, despite these pluses, there are clear disadvantages of the utilization of robotics in the
home. Due to excessive usage of robots,it is assumed that no negative factors that robots bring to
the table, that they help us, make life easier, and are harmless. But in retrospect, giving robots

too much access to our daily lives could lead to disaster worldwide. There are three major points
that can be considered the leading disadvantages of the usage of robots.
a) First, robotics cannot respond in times of danger as humans can.
b) Next, the production and purchasing of robots is very expensive & is also not
affordable by everyone
c) Finally, robots have a specific job to do that is ordered by their operator, and if the
robot malfunctions, this could cause chaos.
Morever other problems regarding robots:
1) High initial cost of robotic systems and robots.
2) Possible need for extra space, and new technology, to accommodate robotic systems and
robots.
3) Importance of using highly skilled and technical engineers, programmers and others to set up
robotic systems and robots to prevent unnecessary future problems and mishaps.
4) Learning curve of persons working with new robotic systems and possible injuries during that
time.
5) Robotic systems and robots are limited to their functions and only the programmers really
know what those functions are. Unless Artificial Intelligence is highly sophisticated, robots may
not respond properly in times of an emergency or when some unexpected variance occurs.
6) Introducing new systems will inherently bring out defects.
7) Intellectual or physical limitations of employees or household consumers with regard to the
operation of a robot or robotic system.

FIG5: various 4-wheeled obstacle avoiding robot[4]

5. REFRENCES
[1]www.wikipedia.in
[2]www.slideshare.com

[3]www.answers.com
[4]http://www.crazymechanical.com/robotics-advantages-and-disadvantages-of-robotics/
[5http://14hmj.qataracademy.wikispaces.net/Advantages+and+Disadvantages+of+Robots
[6]http://www.melbpc.org.au/pcupdate/2205/2205article10.htm