This document provides an introduction and syllabus for a robotics course. It will cover topics like locomotion, perception, planning and navigation. Students will gain hands-on experience through simulation exercises and programming robots. They will also participate in an online robot soccer competition. The course aims to teach the science and challenges of robotics through both theoretical lectures and practical assignments using a robot simulation program called Webots.

1. Introduction to RoboticsCSCI 4830/7000January 11, 2010NikolausCorrell

2. SyllabusTheoryLocomotionKinematicsPerceptionLocalizationPlanning and NavigationPracticeSimulation exercisesDesign reviewsDebatesParticipation in online competition

3. Links and PlacesClass wikihttp://correll.cs.colorado.edu/pmwikiCodeHow-Tos and exercisesCU Learnhttp://culearn.colorado.eduSubmission of assignmentsExercisesCSEL 128http://sac.colorado.eduContactECOT 733 (my office)Phone: (303) 492-2233nikolaus.correll@colorado.eduTry this out asap!Try this out asap!

4. TextbookIntroduction to Autonomous Mobile Robots, Roland Siegwart and Illah R. Nourbakhsh, MIT PressAvailable from CU Bookstore next weekWeekly reading assignmentsLecture is complementing the book

5. Activities and GradingOral exam* DeliverablesWeekly reading assignmentsDesign reviewsDebateMust attend to lectures and seminars* Graduate students will also be required to write a term paper50%20%20%10%

6. 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

7. What will not be covered?Because we will be working in simulation, we will not coverComponents you build are less likely to work than those that you buyComponents you bought are much harder to debug than those you builtRobots is the science of connectors and cablingIntroduction to Robotics II

8. Why robots?Robots will work more efficient and safer than humansFrom repetitive tasks to true autonomyImprove lifestyle and educationPotentially as disruptive as the wheel, printing press, steam engine, internet

9. Early robotsGeorge Devol, *1912~1940~1950Are these robots or automatons?Which are more robots than others and why?“Unimate”, shipped to GM in 1961

10. What is a robot?SensingperceptionComputationmaking sense of your sensesActuation and Mechanismmoving and manipulationCommunicationcommunicating with people, objects and other robots

11. Who is doing robotics?SocialSciencesBiologyChemistryAerospaceEngineeringPhysics

12. Athlete Robot, NASA/JPL. Videos © California Institute of Technology, Simulation MarsetteVona

13. AthleteSensingJoint positionsComputationOff-lineActuation/Mechanism6x6 DOF legs, wheelsCommunicationRemote controlhttp://www.mit.edu/~vona

14. “Big Dog”, Boston Dynamics, AP Photo/ApichartWeerawongYoutube 4min

15. Big DogSensingLegs: Joint positions and force, ground contactBody: Gyroscope, StereovisionComputation/ControlHigh-frequency closed-loop controlActuation/Mechanism4 x 4 DOF hydraulic legsCommunicationRemote Control

16. Rollin’ Justin, 2009, DeutschesLuft und RaumfahrtzentrumRonny Hartmann/AFP/Getty Images Youtube 3min

17. JustinSensingArms/torso/fingers: position, force/torqueHead: vision, hearingComputationCompliant control of fingers and armObject recognition and language processingMotion planning for collision-free pathsActuation2 x 6 DOF Kuka arm, torso, legs, 2 x 4 x 3 DOF handCommunicationAural and speech

18. Kiva Systems, Picture: Josh Reynolds for The Boston Globe Youtube (4min)

19. KivaSensingBar codes on the floor (localization), odometryComputationCentralized, grid-based algorithmActuationMoving on the grid, lift cupboardsCommunicationMany-to-one (centralized), user to server

20. This courseTheoryHow do sensors and actuators workHow can we describe and control a robot’s motionAlgorithms for localization and navigationPracticeProgramming Robots in WebotsDesigning a robot soccer playerDebating about robot technology in class

21. WebotsRealistic, physics-based simulationSimulates robot dynamics, sensor noiseWrite controllers in Java or CGoal: write a competitive soccer player

22. RobotstadiumUpload your controller to www.robotstadium.orgController is evaluated nightly against other players worldwideDownload a video of the competition the next day

23. RobotstadiumYou will design a controller in teams and present it to the class (design review)You will implement this controller and evaluate it against your peersWe will create a CU team that will be frozen the last day of classes$1000 cash prize -> Dinner

24. Competition

25. SummaryA robot becomes autonomous due to a combination ofActuationSensingComputationCommunicationRobotics is an interdisciplinary effortComputer science research makes robots intelligent

26. Next Meetings / AssignmentsWednesday/Friday, January 13/15, 5pm, ECCS 128First steps in WebotsMonday, January 18, NO CLASSReadingWebots User Manual (wiki)Questions on Chapter 2, pages 13 – 32 (culearn), due Sunday, January 24.

27. AcknowledgmentsThe acquisition of Webots was sponsored by