Lecture 01

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  • 2 min
  • 3 min: goal of the presentation: teach your peers
  • 3: algorithms, mechanisms, sensors, signal processing, focus on multi-robot systems
  • 2 min: Intelligence is a function of ALL things coming together: sensors, algorithms, mechanisms and communication
  • 2 min – The Athlete robot is no doubt a robot. Focus, however, is on the mechanical design. The robot has 6 legs that can have the robot move, act as pinchers and pick up stuff, or manipulate the environments with add-on tools. There is little sensing, little computation, and little autonomy on this robot. In fact, nobody even bothered thinking about how to coordinate all the different joints (6 x6 ) to actually perform all the actions that the robot theoretically could do.
  • 4 min. Explain Sensing actuation computation and communication. Again: focus is on a revolutionary mechanical design. My labmate at MIT MarsetteVona – a computer scientist like you – built the interface for controlling the robot. He also developed computational tools that allow to calculate all the joint positions of a robot as a function of a virtual articulation. For pinching, e.g., you can think about calculating all your joint positions as a function of contact points with a virtual object. Show video.
  • 6 min – Big Dog, what it can do, why it was build. Interesting mechanical design (four legs with 4 DOF each). Focus here is on control: how to create a gait to move the robot forwards, and – more difficult – how to react so that the robot remains stable
  • 2 min : explain where the meat is in the big dog
  • 5 min : justin is putting it all together, massive sensing, state-of-the art control, mechanism, computation and communication
  • 2 min
  • 4 min
  • Lecture 01

    1. 1. Introduction to Robotics<br />CSCI 4830/7000-006<br />August 23, 2010<br />NikolausCorrell<br />
    2. 2. Syllabus<br />Theory<br />Locomotion<br />Kinematics<br />Perception<br />Localization<br />Planning and Navigation<br />Practice<br />Simulation exercises<br />Debates<br />Participation in online competition<br />Youtube<br />
    3. 3. Links and Places<br />Class wiki<br />http://correll.cs.colorado.edu/pmwiki<br />Code<br />How-Tos and exercises<br />CU Learn<br />http://culearn.colorado.edu<br />Submission of assignments<br />Exercises<br />CSEL 128<br />http://sac.colorado.edu<br />Contact<br />ECOT 733 (my office)<br />Phone: (303) 492-2233<br />nikolaus.correll@colorado.edu<br />Try this out asap!<br />Try this out asap!<br />
    4. 4. Textbook<br />Introduction to Autonomous Mobile Robots, Roland Siegwart and Illah R. Nourbakhsh, MIT Press<br />Available from CU Bookstore next week<br />Weekly reading assignments<br />Lecture is complementing the book<br />
    5. 5. Activities and Grading<br />Final examen<br />Deliverables<br />Weekly reading assignments<br />Midterm<br />Debate<br />Class participation<br />Must attend to lectures and seminars<br />40%<br />20%<br />20%<br />10%<br />10%<br />
    6. 6. What will you learn?<br />What are robots, what is the science and technology behind building robots and programming them?<br />Why is robotics hard?<br />Hands-on experience programming of driving, walking and crawling robots<br />
    7. 7. What will not be covered?<br />Because we will be working in simulation, we will not cover<br />Components you build are less likely to work than those that you buy<br />Components you bought are much harder to debug than those you built<br />Software-engineering <br />Take: Advanced robotics<br />
    8. 8. Not be covered<br />C / C++ / Java<br />Computer Vision -> CSCI 5722<br />
    9. 9. Why robots?<br />Robots will work more efficient and safer than humans<br />From repetitive tasks to true autonomy<br />Improve lifestyle and education<br />Potentially as disruptive as the wheel, printing press, steam engine, internet<br />
    10. 10. “Small-scale” <br />http://correll.cs.colorado.edu<br />
    11. 11. http://correll.cs.colorado.edu<br />
    12. 12. http://correll.cs.colorado.edu<br />
    13. 13.
    14. 14.
    15. 15.
    16. 16. Early robots<br />George Devol, *1912<br />~1940<br />~1950<br />Are these robots or automatons?<br />Which are more robots than others and why?<br />“Unimate”, shipped to GM in 1961<br />
    17. 17. What is a robot?<br />Sensing<br />perception<br />Computation<br />making sense of your senses<br />Actuation and Mechanism<br />moving and manipulation<br />Communication<br />communicating with people, objects and other robots<br />
    18. 18. Who is doing robotics?<br />Social<br />Sciences<br />Biology<br />Chemistry<br />Aerospace<br />Engineering<br />Physics<br />
    19. 19. Athlete Robot, NASA/JPL. Videos © California Institute of Technology, Simulation MarsetteVona<br />
    20. 20. Athlete<br />Sensing<br />Joint positions<br />Computation<br />Off-line<br />Actuation/Mechanism<br />6x6 DOF legs, wheels<br />Communication<br />Remote control<br />http://www.mit.edu/~vona<br />
    21. 21. “Big Dog”, Boston Dynamics, AP Photo/ApichartWeerawong<br />Youtube 4min<br />
    22. 22. Big Dog<br />Sensing<br />Legs: Joint positions and force, ground contact<br />Body: Gyroscope, Stereovision<br />Computation/Control<br />High-frequency closed-loop control<br />Actuation/Mechanism<br />4 x 4 DOF hydraulic legs<br />Communication<br />Remote Control<br />
    23. 23. Rollin’ Justin, 2009, DeutschesLuft und Raumfahrtzentrum<br />Ronny Hartmann/AFP/Getty Images Youtube 3min<br />
    24. 24. Justin<br />Sensing<br />Arms/torso/fingers: position, force/torque<br />Head: vision, hearing<br />Computation<br />Compliant control of fingers and arm<br />Object recognition and language processing<br />Motion planning for collision-free paths<br />Actuation<br />2 x 6 DOF Kuka arm, torso, legs, 2 x 4 x 3 DOF hand<br />Communication<br />Aural and speech<br />
    25. 25. Kiva Systems, Picture: Josh Reynolds for The Boston Globe Youtube (4min) <br />
    26. 26. Kiva<br />Sensing<br />Bar codes on the floor (localization), odometry<br />Computation<br />Centralized, grid-based algorithm<br />Actuation<br />Moving on the grid, lift cupboards<br />Communication<br />Many-to-one (centralized), user to server<br />
    27. 27. This course<br />Theory<br />How do sensors and actuators work<br />How can we describe and control a robot’s motion<br />Algorithms for localization and navigation<br />Practice<br />Programming Robots in Webots<br />Designing a robot soccer player<br />Debating about robot technology in class<br />
    28. 28. Webots<br />Realistic, physics-based simulation<br />Simulates robot dynamics, sensor noise<br />Write controllers in Java or C<br />Goal: write a competitive robot for ratslife<br />
    29. 29. RatsLife Competition<br />Upload your controller to www.ratslife.org<br />Controller is evaluated nightly against other players worldwide<br />Download a video of the competition the next day<br />Upload your controller into a real robot setup<br />
    30. 30. Ratslife<br />You will design a controller in teams of 2<br />Skills<br />Perception<br />Navigation<br />Planning<br />You will implement this controller and evaluate it against your peers<br />
    31. 31. Summary<br />A robot becomes autonomous due to a combination of<br />Actuation<br />Sensing<br />Computation<br />Communication<br />Robotics is an interdisciplinary effort<br />Computer science research makes robots intelligent<br />
    32. 32. Next Meetings / Assignments<br />Wednesday, 4.45pm, ECCS 128<br />First steps in Webots<br />Reading<br />Webots User Manual (wiki)<br />Questions on Chapter 2, pages 13 – 32 (culearn), due Monday, September 13, 5pm.<br />
    33. 33. Acknowledgments<br />The acquisition of Webots was sponsored by<br />

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