COMP790-058 Robotics: An Introduction

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COMP790-058Robotics An Introduction

• Mon/Wed 1100am 1215pm (SN 115)
• http//gamma.cs.unc.edu/rob-course/public_html/
• Dinesh Manocha
• FB250, 962-1749
• dm_at_cs.unc.edu
• http//www.cs.unc.edu/dm

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Prerequisities

• Knowledge of calculus, differential equations,
  linear algebra and programming is assumed
• Knowledge of algorithms and analysis is a big plus

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History of Robotics

• http//robotics.megagiant.com/history.html

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Textbook References

• In-class handouts
• Other research papers
• More references (books, papers, pointers to other
  interesting resources) available at the course
  website

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Course Overview

• Robotics the study of robot design,
  programming, and control.
• A robot an agent that can be programmed to
  perform a variety of tasks, both with without
  human intervention its often manifested and
  realized by mechanical and electrical components
  to carry out its actions in the physical world.

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Possible Applications

• Computer Animation
• Virtual Environments
• Design Automation Rapid Prototyping
• Haptic Rendering Interfaces
• Medical Training Robot Assisted Procedures
• Bio-informatics Computational Chemistry
• Sensor Networks Distributed Robotic Systems

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Space Exploration
MARS Space Vehicles
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Virtual Environments
Sarcos Threadport II
Iwatas Gaitmaster
Sarcos Biport
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Haptic Rendering Interfaces
Haptic Painting
Interactive Manipulation of nanoStructures
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Design Automation Rapid Prorotyping
General Electric
General Motors
General Motors
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Assembly Planning
Generation of Instruction Manuals
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Medical Training Robot Assisted Surgery
Third Ventriculostomy (HT/Immersion Medical)
da Vinci Surgical System (Intuitive Surgery,
Inc.)
Human Simulation (BDI)
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Model Acquisition by Mobile Robot
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Sensor Networks Distributed Robotic Systems
Multiple Autonomous Robots (UPENN)
Solar-powered Underwater Robot for undersea
observation
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Computer Animation
Character Animation ACM SIGGRAPH 1995 (Top)
Pixar Actors (Right Top Bottom)
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Computer Games
Game Playing AI
Crowd Simulation
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Bioinformatics Computational Chemistry

• Drug Design - molecule docking
• Studying folding pathways kinetics

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Bio-Inspired Robots
RiSE - Robotics in Scansorial Enviroments
UPENN RHex
Mecho-gecko Climbing Vehicle
SPRAWL Dynamic legged robot
Boadicea Hexaped with artificial muscles
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Scouting Rescue
Snake Robots Fire Fighting
Underwater Snake Robot
Robot Demining
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Entertainment Education
ASIMO Humanoid Robot
Sony AIBO Dog
Dream Robot (Sony)
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Human-Robot Interaction
A robot that moves and interacts with people
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Household Daily Use
Vaccum, Mopping, Lawn Mowing
Automobile Route Planning
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DARPA Grand Challenge
Autonomous navigation for a collision-free
132-mile path with obstacle course in a desert
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What Will We Be Doing

• Geometry
• Collision Detection
• Motion Planning Single robot and multiple robots
• Mechanics
• Forward and Inverse Kinematics
• Rigid Body Dynamics
• Articulated Body Dynamics
• Other introductory materials
• SLAM
• Sensing (Computer Vision) Actuation
• Control Optimizations
• Knowledge Representation Semantics
• Biologically-Inspired Robots
• Applications

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Also have fun with Roombas

• Programming assignments
• Simple motion planning on a single Roomba
• Multiple-robot motion planning

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Robotics is Getting Hot!

• Success of Roomba
• DARPA Grand Challenge
• http//www.darpa.mil/GRANDCHALLENGE/
• http//www.youtube.com/watch?vAFh-p5eW_0o
• Humanoid Robots and Social Needs
• http//www.youtube.com/watch?vCe9AswIM4ls
• Latest Trend Internet to Robotics
• http//www.cra.org/ccc/home.article.ttech.html