II.

Early History of Robots

The concept of automated machines dates to antiquity with myths of mechanical beings brought to life. Automata, or humanlike machines, also appeared in the clockwork figures of medieval churches, and 18th-century watchmakers were famous for their clever mechanical creatures.

Feedback (self-correcting) control mechanisms were used in some of the earliest robots and are still in use today. An example of feedback control is a watering trough that uses a float to sense the water level. When the water falls past a certain level, the float drops, opens a valve, and releases more water into the trough. As the water rises, so does the float. When the float reaches a certain height, the valve is closed and the water is shut off.

The first true feedback controller was the Watt governor, invented in 1788 by the Scottish engineer James Watt. This device featured two metal balls connected to the drive shaft of a steam engine and also coupled to a valve that regulated the flow of steam. As the engine speed increased, the balls swung out due to centrifugal force, closing the valve. The flow of steam to the engine was decreased, thus regulating the speed.

Feedback control, the development of specialized tools, and the division of work into smaller tasks that could be performed by either workers or machines were essential ingredients in the automation of factories in the 18th century. As technology improved, specialized machines were developed for tasks such as placing caps on bottles or pouring liquid rubber into tire molds. These machines, however, had none of the versatility of the human arm; they could not reach for objects and place them in a desired location.

The development of the multijointed artificial arm, or manipulator, led to the modern robot. A primitive arm that could be programmed to perform specific tasks was developed by the American inventor George Devol, Jr., in 1954. In 1975 the American mechanical engineer Victor Scheinman, while a graduate student at Stanford University in California, developed a truly flexible multipurpose manipulator known as the Programmable Universal Manipulation Arm (PUMA). PUMA was capable of moving an object and placing it with any orientation in a desired location within its reach. The basic multijointed concept of the PUMA is the template for most contemporary robots.