View stunning SlideShares in full-screen with the new iOS app!Introducing SlideShare for AndroidExplore all your favorite topics in the SlideShare appGet the SlideShare app to Save for Later — even offline
View stunning SlideShares in full-screen with the new Android app!View stunning SlideShares in full-screen with the new iOS app!
Introduction to Robotics CSCI 4830/7000-006 August 23, 2010 NikolausCorrell
Syllabus Theory Locomotion Kinematics Perception Localization Planning and Navigation Practice Simulation exercises Debates Participation in online competition Youtube
Links and Places Class wiki http://correll.cs.colorado.edu/pmwiki Code How-Tos and exercises CU Learn http://culearn.colorado.edu Submission of assignments Exercises CSEL 128 http://sac.colorado.edu Contact ECOT 733 (my office) Phone: (303) 492-2233 firstname.lastname@example.org Try this out asap! Try this out asap!
Textbook Introduction to Autonomous Mobile Robots, Roland Siegwart and Illah R. Nourbakhsh, MIT Press Available from CU Bookstore next week Weekly reading assignments Lecture is complementing the book
Activities and Grading Final examen Deliverables Weekly reading assignments Midterm Debate Class participation Must attend to lectures and seminars 40% 20% 20% 10% 10%
What will you learn? What are robots, what is the science and technology behind building robots and programming them? Why is robotics hard? Hands-on experience programming of driving, walking and crawling robots
What will not be covered? Because we will be working in simulation, we will not cover Components you build are less likely to work than those that you buy Components you bought are much harder to debug than those you built Software-engineering Take: Advanced robotics
Not be covered C / C++ / Java Computer Vision -> CSCI 5722
Why robots? Robots will work more efficient and safer than humans From repetitive tasks to true autonomy Improve lifestyle and education Potentially as disruptive as the wheel, printing press, steam engine, internet
Athlete Sensing Joint positions Computation Off-line Actuation/Mechanism 6x6 DOF legs, wheels Communication Remote control http://www.mit.edu/~vona
“Big Dog”, Boston Dynamics, AP Photo/ApichartWeerawong Youtube 4min
Big Dog Sensing Legs: Joint positions and force, ground contact Body: Gyroscope, Stereovision Computation/Control High-frequency closed-loop control Actuation/Mechanism 4 x 4 DOF hydraulic legs Communication Remote Control
Justin Sensing Arms/torso/fingers: position, force/torque Head: vision, hearing Computation Compliant control of fingers and arm Object recognition and language processing Motion planning for collision-free paths Actuation 2 x 6 DOF Kuka arm, torso, legs, 2 x 4 x 3 DOF hand Communication Aural and speech
Kiva Systems, Picture: Josh Reynolds for The Boston Globe Youtube (4min)
Kiva Sensing Bar codes on the floor (localization), odometry Computation Centralized, grid-based algorithm Actuation Moving on the grid, lift cupboards Communication Many-to-one (centralized), user to server
This course Theory How do sensors and actuators work How can we describe and control a robot’s motion Algorithms for localization and navigation Practice Programming Robots in Webots Designing a robot soccer player Debating about robot technology in class
Webots Realistic, physics-based simulation Simulates robot dynamics, sensor noise Write controllers in Java or C Goal: write a competitive robot for ratslife
RatsLife Competition Upload your controller to www.ratslife.org Controller is evaluated nightly against other players worldwide Download a video of the competition the next day Upload your controller into a real robot setup
Ratslife You will design a controller in teams of 2 Skills Perception Navigation Planning You will implement this controller and evaluate it against your peers
Summary A robot becomes autonomous due to a combination of Actuation Sensing Computation Communication Robotics is an interdisciplinary effort Computer science research makes robots intelligent
Next Meetings / Assignments Wednesday, 4.45pm, ECCS 128 First steps in Webots Reading Webots User Manual (wiki) Questions on Chapter 2, pages 13 – 32 (culearn), due Monday, September 13, 5pm.
Acknowledgments The acquisition of Webots was sponsored by